A technology demonstrator currently under development is presented and experiments are described carried out to date in autonomous bulk material handling using mobile equipment. The primary platform is a Bobcat S185 skid-steer loader instrumented with an onboard computer, a sensor suite, and a communication link that support various levels of automation, from remote control to supervised autonomy. We present the main system components and discuss the autonomous cleaning of spillage and carryback, common bulk handling task in mining, currently executed exclusively using manually and/or remotely operated loaders. The system architecture is based on Spring, a Robotics Software Framework developed by CSIRO (Commonwealth Scientific and Industrial Research Organisation) in Australia to support rapid development of new robotic systems, distributed as an Open Source package.
Experiments in autonomous earth moving
2011
6 Seiten, 6 Bilder, 24 Quellen
Aufsatz (Konferenz)
Datenträger
Englisch
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