For underground mining operations human operated LHD (Load-Haul-Dump) vehicles are typically used for transporting ore. Because of security issues and of the cost of human operators, alternative solutions such as tele-operated vehicles are often in use. Tele-operation, however, leads to reduced efficiency, and it is not an ideal solution. Full automation of the LHD vehicles is a challenging task, which is expected to result in increased operational efficiency, cost efficiency, and safety. In this paper, an approach to a fully automated solution currently under development has been presented. A fuzzy behavior-based approach for navigation has been used, and a cheap and robust localization technique has been developed based on the deployment of inexpensive passive radio frequency identification (RFID) tags at key points in the mine. In this paper a few problems with implementing such navigation systems have been investigated and a solution based on a hybrid metric-topological map with a number of redundant methods for localization has been presented which provides greater robustness than any one solution alone. Though still a project under development, the initial tests of this system in realistic environments look promising.


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    Titel :

    A navigation system for automated loaders in underground mines


    Weitere Titelangaben:

    Ein Navigationssystem für automatisierte Schaufellader in Untertagebergwerken


    Beteiligte:


    Erscheinungsdatum :

    2006


    Format / Umfang :

    12 Seiten, 5 Bilder, 13 Quellen





    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Print


    Sprache :

    Englisch




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