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An experiment in autonomous navigation of an underground mining vehicle

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4 Author(s)
Scheding, S. ; Nat. Robotics Eng. Consortium, Pittsburgh, PA, USA ; Dissanayake, G. ; Nebot, E.M. ; Durrant-Whyte, H.

Describes the theoretical development and experimental evaluation of a navigation system for an autonomous load, haul, and dump truck based on the results obtained during extensive in-situ field trials. The particular contributions of the theoretical work are in designing the navigation system to be able to cope with vehicle slip in rough uneven terrain using information from inertial sensors, odometry, and a bearing only laser. Results are presented using data obtained during the field trials

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Robotics and Automation, IEEE Transactions on  (Volume:15 ,  Issue: 1 )