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.


    Access

    Access via TIB

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    A navigation system for automated loaders in underground mines


    Additional title:

    Ein Navigationssystem für automatisierte Schaufellader in Untertagebergwerken


    Contributors:


    Publication date :

    2006


    Size :

    12 Seiten, 5 Bilder, 13 Quellen





    Type of media :

    Conference paper


    Type of material :

    Print


    Language :

    English




    Loaders

    Mück, Draško / Mikulić, Dinko | Springer Verlag | 2024


    Autonomous system for navigation and surveying in underground mines

    Bakambu, J. N. / Polotski, V. | British Library Online Contents | 2007


    Wheel loaders

    Tema Archive | 2001


    Specification Definitions - Loaders

    SAE Technical Papers | 2012


    Trucks and loaders

    Shuey, S.A. | Tema Archive | 1999