Sensor fusion for mining robots

Journal Article · · IEEE Transactions on Industry Applications (Institute of Electrical and Electronics Engineers); (United States)

DOI:https://doi.org/10.1109/28.315246· OSTI ID:6944480

Banta, L ^[1]; Rawson, K D ^[2]

---

1. West Virginia Univ., Morgantown, WV (United States)
2. Morgantown Energy Technology Center, WV (United States)

The use of robots for work in hazardous or unpleasant environments is one factor driving the demand for machines of ever-increasing autonomy and intelligence. Such machines are required to sense and interpret situations, plan strategies, and execute tasks with nearly absolute reliability. Negotiation of complex environments requires the use of a variety of different sensor types and the interpretation of conflicting or missing data, diagnosis of faulty sensors, and the ability to reconfigure a system to work with a partially inoperative sensor suite. This paper focused on the issues of integration of information from disparate sensor types in the presence of noise and uncertainty. The application is a mobile robot called the autonomous navigation testbed being used at West Virginia University for research in mining robot applications. This paper describes both traditional control techniques and neural-network-based methods being used to interpret data from a variety of sensors on the mobile testbed.

• OSTI ID: 6944480
• 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. 30:5; ISSN 0093-9994; ISSN ITIACR
• Country of Publication: United States
• Language: English

Related Subjects

01 COAL, LIGNITE, AND PEAT
012034* -- Coal
Lignite
& Peat-- Underground Mining-- Automation
Monitoring
& Control-- (1987-)
ARTIFICIAL INTELLIGENCE
AUTOMATION
COAL MINING
COMPUTERIZED CONTROL SYSTEMS
CONTROL SYSTEMS
EQUIPMENT
EXPERT SYSTEMS
MINING
MINING EQUIPMENT
NAVIGATION
ON-LINE CONTROL SYSTEMS
ON-LINE SYSTEMS
PERFORMANCE TESTING
ROBOTS
TESTING