Mode-based navigation for autonomous mine vehicles

Journal Article · Wed Jan 01 04:00:00 EST 1992 · IEEE Transactions on Industry Applications (Institute of Electrical and Electronics Engineers); (United States)

DOI:https://doi.org/10.1109/28.120228· OSTI ID:5358641

Banta, L E; Nutter, R S; Xia, Y ^[1]

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1. College of Engineering, West Virginia Univ., Morgantown, WV (US)

This paper describes research at West Virginia University that develops an autonomous mobile robot for use in underground mines. The navigation scheme combines elements of both hierarchical control and reactive or subsumptive-type control. The robot navigates by sensing the environment and selecting a navigational mode that is appropriate to the circumstances and to the robot's mission. examples of navigational modes are wall following, collision avoidance, and homing. The modes are implemented in modules formed by combinations of neural network processors and conventional control algorithms. This paper describes the overall control system architecture and the navigational strategies of the experimental robot vehicle.

• OSTI ID: 5358641
• Journal Information: IEEE Transactions on Industry Applications (Institute of Electrical and Electronics Engineers); (United States), Journal Name: IEEE Transactions on Industry Applications (Institute of Electrical and Electronics Engineers); (United States) Vol. 28:1; ISSN 0093-9994; ISSN ITIAC
• Country of Publication: United States
• Language: English

Related Subjects

01 COAL, LIGNITE, AND PEAT
012032 -- Coal
Lignite
& Peat-- Underground Mining-- Transport & Services-- (1987-)
012034* -- Coal
Lignite
& Peat-- Underground Mining-- Automation
Monitoring
& Control-- (1987-)
ALGORITHMS
ARRAY PROCESSORS
AUTOMATION
COAL MINES
COMPUTER ARCHITECTURE
CONTROL SYSTEMS
DATA
DATA PROCESSING
DEVELOPED COUNTRIES
EQUIPMENT
EXPERIMENTAL DATA
HAULAGE EQUIPMENT
INFORMATION
MATERIALS HANDLING
MATERIALS HANDLING EQUIPMENT
MATHEMATICAL LOGIC
MINE HAULAGE
MINES
MINING
NEURAL NETWORKS
NORTH AMERICA
NUMERICAL DATA
PERFORMANCE
PROCESSING
RESEARCH PROGRAMS
ROBOTS
UNDERGROUND FACILITIES
UNDERGROUND MINING
USA
WEST VIRGINIA