An experimental autonomous land vehicle for off-road piloting and navigation research

Koskinen, Kari; Mäkelä, Hannu; Rintanen, K.; Halme, Aarne; Ojala, M.; Suomela, Jukka; Schönberg, Torsten

doi:10.1109/icsmc.1993.390700

Cited by 7 publications

(2 citation statements)

References 12 publications

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“…The DGPS sensor will be attached along Z 0 of the base co-ordinate frame. The height of the mining arm (the mining tool) and the steering alignment can then be determined through the robot's kinematics (Hessburg and Tomizuka, 1994;Kokinen et al, 1993). This system has none of the inherent problems of the laser alignment.…”

Section: Robot's Path Planningmentioning

confidence: 99%

Robotization of coal harvesting in open cut lignite mines

Ibrahim

Barfoot²

1997

Industrial Robot: An International Journal

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Presents a summary of research which is currently being conducted at Monash University ‐ Gippsland Campus. The research aims at the automation of coal harvesting at a major Australian open cut mine. This mine is located at Morwell, Victoria and produces brown coal (lignite). The coal from this mine contributes significantly to the power generation in Victoria. The research aims to provide a computer assisted remote operation of mining machines and services. Also, this research aims at developing an intelligent unmanned mining system using robotics technology. Also discusses the method of robotizing such a mine for maximum economic efficiency and the proposed control configuration for the system. Describes the current automation project, which is to achieve the required alignment between the robotized mining machine and the hopper by employing a reactive/adaptive fuzzy control system for maximum economic efficiency.

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Section: Robot's Path Planningmentioning

confidence: 99%

Robotization of coal harvesting in open cut lignite mines

Ibrahim

Barfoot²

1997

Industrial Robot: An International Journal

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“…The principal difficulty in developing an AGV system for such an environment is simply to overcome problems of size, distance, and reliability in a commercially realistic manner. There has been increasing interest in the development of outdoor AGV systems for a variety of applications. Notable is the work at Carnegie Mellon University (Thorpe 1989;Thorpe et al 1988), and VTT [Technical Research Centre of Finland] and the University of Helsinki in Finland Koskinen et al 1993), both of which have looked at a number of applications in areas such as mining and agriculture.…”

Section: Introductionmentioning

confidence: 99%

An Autonomous Guided Vehicle for Cargo Handling Applications

Durrant‐Whyte

1996

The International Journal of Robotics Research

129

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This article describes an autonomous guided vehicle (AGV) system designed to transport ISO standard cargo containers in port environments. The AGV consists of a large 17.5-ton chassis, which is driven and steered through a diesel-hydraulic power set. The vehicle drives on pneumatic wheels over unprepared road surfaces at speeds up to 6 m/s. The navigation system is based on the use of millimeter-wave radar sensors detecting beacons placed at known locations in the environment. The navigation system reliably achieves accuracies of better than 3 cm. The planning and control systems allow the AGV to operate in the quay and yard area, to dock with gantry cranes, and to achieve a duty cycle comparable to that of a conventional manned vehicle. This article concentrates on describing three principal contributions of this work: the design of the overall vehicle and on-board systems architecture; the development of a navigation system appropriate for large, outdoor, high-speed vehicles; and the experimental program leading to validation of the vehicle system.

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