Mode-based navigation for autonomous mine vehicles

The development of an autonomous mobile robot for use in underground mines is described. 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. The overall control system architecture and the navigational strategies of the experimental robot vehicle are also described.<
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