Browsing Offroad Robotics by Publish Date
Now showing items 1-20 of 31
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Two Dimensional Axis Mapping using LIDAR
(2016-02-04)Abstract—This paper introduces two-dimensional axis mapping, which estimates axis maps (AMs) based on LiDAR measurements. An AM describes the dominant orientations of surfaces in an environment, and is void of positional ... -
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 ... -
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, ... -
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 ... -
Visual Indoor Positioning with a Single Camera Using PnP
(2016-02-23)This paper introduces an accurate and inexpensive method for localizing a calibrated monocular camera in 3D indoor environments. The objective of this work is to localize in 6 degrees-of-freedom (6 DOF) in the presence of ... -
Towards Intensity-Augmented SLAM with LiDAR and ToF Sensors
(2016-02-24)Although passive sensors are widely used for many mobile robotics applications that perform mapping and localization functions, there are many environments (e.g., mining and planetary) where active sensors are more practical. ... -
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 ... -
Registration of Noisy Point Clouds Using Virtual Interest Points
(2016-03-04)A new method is presented for robustly and efficiently registering two noisy point clouds. The registration is driven by establishing correspondences of virtual interest points, which do not exist in the original point ... -
Towards Extracting Absolute Roughness From Underground Mine Drift Profile Data
(2016-03-08)The purpose of this paper is to demonstrate a technique to utilize underground mine drift profile data for estimating absolute roughness of an underground mine drift in order to implement the Darcy-Weisbach equation for ... -
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 ... -
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 ... -
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 ... -
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 ... -
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 ... -
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 ... -
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 ... -
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. -
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 ... -
Towards Controlling Bucket Fill Factor in Robotic Excavation by Learning Admittance Control Setpoints
(2017-09-30)This paper investigates the extension of an admittance control scheme to- ward learning and adaptation of its setpoints to achieve controllable bucket fill factor for robotic excavation of fragmented rock. A previously ... -
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 ...