oru.sePublikationer
Change search
CiteExportLink to record
Permanent link

Direct link
Cite
Citation style
  • apa
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf
Laser-based corridor detection for reactive navigation
Örebro University, School of Science and Technology. (AASS)
Örebro University, School of Science and Technology. (AASS)
Örebro University, School of Science and Technology. (AASS)ORCID iD: 0000-0001-8229-1363
2008 (English)In: Industrial robot, ISSN 0143-991X, E-ISSN 1758-5791, Vol. 35, no 1, 69-79 p.Article in journal (Refereed) Published
Abstract [en]

For mobile robots operating in real-world environments, reactive navigation is a useful complement (or even replacement) to pure plan-based metric navigation. Reactive navigation is performed with respect to local perceived features, rather than a global metric reference frame, and can provide reduced installation costs, increased flexibility, and robustness to changes in the environment. To be effective, however, reactive navigation requires fast and reliable perception of the relevant features in the environment. Corridor-like structures are one of the most common features that are used for this purpose. In this paper, we propose a new method for corridor detection from laser data, based on the Hough transform, which is fast, reliable, and noise tolerant. We describe the algorithm, report an extensive experimental evaluation of its performance, and motivate the research with a real application involving the autonomous operation of a loader vehicle in an underground mine.

Place, publisher, year, edition, pages
2008. Vol. 35, no 1, 69-79 p.
Keyword [en]
Mines, Automation, Navigation, Tunnelling
National Category
Computer Science Engineering and Technology Computer and Information Science Robotics
Research subject
Computer Science
Identifiers
URN: urn:nbn:se:oru:diva-7069DOI: 10.1108/01439910810843306OAI: oai:DiVA.org:oru-7069DiVA: diva2:220949
Available from: 2009-06-03 Created: 2009-06-03 Last updated: 2017-12-13Bibliographically approved
In thesis
1. Unmanned operation of load-haul-dump vehicles in mining environments
Open this publication in new window or tab >>Unmanned operation of load-haul-dump vehicles in mining environments
2011 (English)Doctoral thesis, comprehensive summary (Other academic)
Abstract [en]

Underground mines typically do not represent the best working conditions for humans, and many mining companies have the intent to remove all humans from the ore extraction areas. To achieve this goal automation of the mining machinery is required. One of the riskier jobs in a mine is to operate the Load-Haul-Dump (LHD) vehicles that are used to transport the ore from the blast site to a truck, lorry or directly to a crusher. Today these vehicles are typically controlled by an on-board manual operator. The purpose of the work presented in this thesis is to develop and evaluate algorithms and methods to enable high productivity unmanned operation of LHDs, including two different operating modes.

The first mode is fully autonomous navigation, applicable to static environments, where the LHDs are repeatedly driven along the same paths for extended periods. Here, an existing framework for reactive navigation based on fuzzy logic has been extended with novel feature detection algorithms for tunnel following and topological localisation based on 2D laser range scanner data. These algorithms have been verified in quantitative tests to be fast, reliable and tolerant to noise in the sensor data. Moreover, the whole navigation system has been evaluated in qualitative tests in indoor environments using an ordinary research robot. The autonomous navigation system for LHDs currently commercialized by Atlas Copco is partly based on the experiences gained from the work presented here.

The second mode explored is semi-autonomous operation, where local-autonomy functionality on-board the machine assists a tele-remote operator in driving the vehicle along a collision-free path. This mode is intended for mines where the driving path of the machine changes frequently, so the setup needed for a fully autonomous system becomes impractical. In this part of the work a user study in a real mine has been performed, showing that local autonomy has the potential to significantly improve the productivity of a tele-remote operated LHD. Based on these results, a commercial tele-operating system for underground mines has been extended with a novel local autonomy functionality, inspired by existing autonomous navigation systems. The performance of this system has been verified in experiments performed on a real 38 tonnes LHD in a test mine, and in simulations aimed to show that the system works in arbitrary underground mine environments.

Place, publisher, year, edition, pages
Örebro: Örebro university, 2011. 51 p.
Series
Örebro Studies in Technology, ISSN 1650-8580 ; 51
National Category
Computer and Information Science
Research subject
Computer and Systems Science
Identifiers
urn:nbn:se:oru:diva-22264 (URN)
Public defence
2011-12-14, Hörsal T, Örebro universitet, Fakultetsgatan 1, Örebro, 13:15 (Swedish)
Opponent
Supervisors
Note
Prof. Alessandro Saffiotti is a member of Centre for Applied Autonomous Sensor Systems (AASS) , Örebro UniversityAvailable from: 2012-03-28 Created: 2012-03-28 Last updated: 2017-10-17Bibliographically approved

Open Access in DiVA

No full text

Other links

Publisher's full texthttp://www.aass.oru.se/~asaffio/Papers/ir08.html

Authority records BETA

Larsson, JohanBroxvall, MathiasSaffiotti, Alessandro

Search in DiVA

By author/editor
Larsson, JohanBroxvall, MathiasSaffiotti, Alessandro
By organisation
School of Science and Technology
In the same journal
Industrial robot
Computer ScienceEngineering and TechnologyComputer and Information ScienceRobotics

Search outside of DiVA

GoogleGoogle Scholar

doi
urn-nbn

Altmetric score

doi
urn-nbn
Total: 361 hits
CiteExportLink to record
Permanent link

Direct link
Cite
Citation style
  • apa
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf