Browsing Offroad Robotics by Type "journal article"
Now showing items 1-20 of 29
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Admittance Control for Robotic Loading: Design and Experiments with a 1-Tonne Loader and a 14-Tonne LHD
(2016-06-09)This paper describes the design, tuning, and extensive field testing of an admittance-based Autonomous Loading Controller (ALC) for robotic excavation. Several iterations of the ALC were tuned and tested in fragmented rock ... -
Admittance Control for Robotic Loading: Underground Field Trials with an LHD
(2016-03-08)In this paper we describe field trials of an admittance-based Autonomous Loading Controller (ALC) applied to a robotic Load-Haul-Dump (LHD) machine at an underground mine near Orebro, Sweden. The ALC was tuned and field ... -
Automated Rapid Mapping of Joint Orientations with Mobile LiDAR
(2016-10-31)This paper introduces three-dimensional axis mapping (3DAM), a new method for joint orientation estimation that rapidly collects data from a mobile platform containing a scannerless LiDAR and an inertial measurement unit ... -
Automated Three-Dimensional Axis mapping with a mobile platform
(2016-02-23)An axis map (AM) represents the orientations of planar surfaces in an environment and is void of positional information. Three-dimensional axis mapping (3DAM) is a graph-based optimization algorithm that generates an AM, ... -
Automatic Identification of Large Fragments in a Pile of Broken Rock Using a Time-of-Flight Camera
(2016-09-20)This paper presents a solution to part of the problem of making robotic or semi-robotic digging equipment less dependant on human supervision. A method is described for identifying rocks of a certain size that may affect ... -
Design of a Novel Auto-Rotating UAV Platform for Underground Mine Cavity Surveying
(2017)The purpose of this paper is to investigate the potential for use of UAVs in underground mines and present a prototype design for a novel autorotating UAV platform for underground 3D data collection. -
Detection of conductive lane markers using mmWave FMCW automotive radar
(IEEE, 2021-09-23)Localization of vehicles in inclement weather conditions, including snow and heavy rain, is a significant issue plaguing autonomous vehicle systems. Our work takes a step towards tackling this problem by leveraging existing ... -
Estimating the Heading of a Husky Mobile Robot with a LiDAR Compass based on Direction Maps
(2016-02-05)Without an absolute position sensor (e.g., GPS), an accurate heading estimate is necessary for proper localization of an autonomous unmanned vehicle or robot. This paper introduces direction maps (DMs), which represent the ... -
Evaluation of a ToF Camera for Remote Surveying of Underground Cavities Excavated by Jet Boring
(2016-09-23)Cigar Lake is a high-grade uranium deposit, located in northern Saskatchewan, Canada. In order to extract the uranium ore remotely, thus ensuring minimal radiation dose to workers and also to access the ore from stable ... -
Experiments in feedback linearized iterative learning‐based path following for center‐articulated industrial vehicles
(John Wiley & Sons, Inc., 2019-02-13)This paper describes the design, industrial application, and field testing of a technique for autonomous wheeled‐vehicle path following that uses iterative learning control (ILC) in a feedback linearized space. One advantage ... -
Fundamental Behaviours Of Production Traffic In Underground Mine Haulage Ramps
(2016-03-03)Ramps (or declines) are often used in underground mines to transport ore, waste, materials, and personnel. This paper studies mine ramp productivity and presents results from a set of computer simulations designed to model ... -
HDPR: A Mobile Testbed for Current and Future Rover Technologies
(2016-09-29)The paper in hand presents a mobile testbed –namely the Heavy Duty Planetary Rover (HDPR)– that was designed and constructed at the Automation and Robotics Laboratories (ARL) of the European Space Agency to fulfill the ... -
Industrial-Scale Autonomous Wheeled-Vehicle Path Following by Combining Iterative Learning Control with Feedback Linearization
(2017-09-30)Abstract— This paper presents a path following method for autonomous wheeled vehicles that combines iterative learning control (ILC) with nonlinear feedback linearization (FBL) to provide anticipatory control action ... -
Iterative Learning-Based Admittance Control for Autonomous Excavation
(Springer Netherlands, 2019-02-07)This paper presents the development and field validation of an iterative learning-based admittance control algorithm for autonomous excavation in fragmented rock using robotic wheel loaders. An admittance control strategy ... -
The LiDAR Compass: Extremely Lightweight Heading Estimation with Axis Maps
(2016-09-23)This paper introduces the LiDAR compass, a bounded and extremely lightweight heading estimation technique that combines a two-dimensional laser scanner and axis maps, which represent the orientations of flat surfaces in ... -
Mapping of spatiotemporal scalar fields by mobile robots using Gaussian process regression
(IEEE, 2022-10)Spatiotemporal maps are data-driven estimates of time changing phenomena. For environmental science, rather than collect data from an array of static sensors, a mobile sensor platform could reduce setup time and cost, ... -
Mapping waves with an uncrewed surface vessel via Gaussian process regression
(IEEE, 2023-05-29)Mobile robots are well suited for environmental surveys because they can travel to any area of interest and react to observations without the need for pre-existing infras- tructure or significant setup time. However, vehicle ... -
Mobile LiDAR-Based Convergence Detection in Underground Tunnel Environments
(2017-04-06)This paper presents a mobile LiDAR-based method for remotely identifying convergence (i.e., naturally occurring deformation) in excavated underground tunnel environments. A mobile LiDAR system is used to collect and generate ... -
On the Design and Selection of Vehicle Coordination Policies for Underground Mine Production Ramps
(2016-02-23)Traffic management in underground mines, especially on production ramps, is a difficult problem to optimize and control. Most operations use one of a few common policies; e.g., the so-called “lock-out” and “loaded-vehicle ... -
The robot revolution is here: How it’s changing jobs and businesses in Canada
(The Conversation, 2021-02-23)The future of automated labour may not spell the end of human employment.