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Title: Position estimator for underground mine equipment

This paper describes a 2-D perception system that exploits the accuracy and resolution of a laser range sensor to determine the position and orientation of a mobile robot in a mine environment. The perception system detects features from range sensor data and matches the features to a map of the mine to compute the sensor position. The features used are line segments and corners, which represent the typical geometry of the mine walls and intersections found in room-0and-pillar type mining. The position estimate is refined by minimizing the error between the map and sensed features. This position information can be used for autonomous navigation when a map of the mine is available or to survey the mine to build such a map. The technique is applied to robot navigation in a mine mockup. A refinement of this system could guide machines to yield productive, safe mining operations.
Authors:
; ; ;  [1]
  1. (Field Robotics Center, Carnegie Mellon Univ., Pittsburgh, PA (United States))
Publication Date:
OSTI Identifier:
6974212
Resource Type:
Journal Article
Resource Relation:
Journal Name: IEEE Transactions on Industry Applications (Institute of Electrical and Electronics Engineers); (United States); Journal Volume: 28:5
Country of Publication:
United States
Language:
English
Subject:
42 ENGINEERING; 99 GENERAL AND MISCELLANEOUS//MATHEMATICS, COMPUTING, AND INFORMATION SCIENCE; UNDERGROUND MINING; MINING EQUIPMENT; MOCKUP; ROBOTS; SAFETY; TWO-DIMENSIONAL CALCULATIONS; WALLS; GEOMETRY; AUTOMATION; COMPUTER CALCULATIONS; EQUIPMENT; MATHEMATICS; MINING; STRUCTURAL MODELS 422000* -- Engineering-- Mining & Underground Engineering-- (1980-); 990200 -- Mathematics & Computers