| 1. |
- Larsson, Johan, et al.
(author)
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A navigation system for automated loaders in underground mines
- 2006
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In: Field and Service Robotics. - Berlin : Springer Berlin/Heidelberg. - 9783540334538 ; , s. 129-140
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Conference paper (peer-reviewed)abstract
- For underground mining operations human operated LHD vehicles are typically used for transporting ore. Because of security issues and of the cost of human operators, alternative solutions such as tele-operated vehicles are often in use. Tele-operation, however, leads to reduced efficiency, and it is not an ideal solution. Full automation of the LHD vehicles is a challenging task, which is expected to result in increased operational efficiency, cost efficiency, and safety. In this paper, we present our approach to a fully automated solution currently under development. We use a fuzzy behavior-based approach for navigation, and develop a cheap and robust localization technique based on the deployment of inexpensive passive radio frequency identification (RFID) tags at key points in the mine.
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| 2. |
- Larsson, Johan, et al.
(author)
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An evaluation of local autonomy applied to teleoperated vehicles in underground mines
- 2010
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In: 2010 IEEE International Conference on Robotics and Automation (ICRA). - : IEEE conference proceedings. - 9781424450381 ; , s. 1745-1752
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Conference paper (other academic/artistic)abstract
- Autonomous vehicles are being increasingly introduced in the mining industry. While these may offer high safety and high productivity, fully autonomous solutions are not always applicable or economically viable. Teleoperation is an attractive option, since it increases safety and comfort of the drivers. Unfortunately, the difficulty to operate the vehicle remotely often results in reduced productivity. In this paper, we show that techniques from the field of mobile robotics can be used to mitigate this problem. We extend a commercial teleoperation system for use in underground mines with a local autonomy functionality, with the main purpose to evaluate if the achieved productivity improvement motivates development of general algorithms and a fully commercial implementation. We then describe a user study performed in an underground mine with a 38 tonne articulated wheel loader, which proves that local autonomy gives a significant improvement in productivity of the teleoperation system, while retaining or even reducing the maintenance costs.
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| 3. |
- Larsson, Johan, et al.
(author)
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Fast laser-based feature recognition
- 2005
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Conference paper (peer-reviewed)abstract
- This paper we present our methods for feature recognition used for high speed reactive navigation based on a topological map, with none or sparse metric information. Our methods for corridor and intersection detection yields execution times of only a fraction of what we have found previously described in the relevant literature, and have proven robust and reliable in experiments performed both in office environment and in our test mine [Larsson et al., 2005]. A. Related Work Our Corridor
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| 4. |
- Larsson, Johan, et al.
(author)
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Flexible infrastructure free navigation for vehicles in underground mines
- 2008
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In: 4th international IEEE conference intelligent systems, IS '08. - New York : IEEE. - 9781424417391 ; , s. 2-45-2-50
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Conference paper (peer-reviewed)abstract
- During the last decade, mining companies and mobile equipment manufacturers have pursued improved efficiency, productivity, and safety in underground mining operations by automating some of the functions of underground vehicles. The work presented in this paper is the result of an effort to develop new flexible infrastructureless guidance system for autonomous tramming of center-articulated underground mining vehicles.
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| 5. |
- Larsson, Johan, et al.
(author)
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Laser-based corridor detection for reactive navigation
- 2008
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In: Industrial robot. - : Emerald. - 0143-991X .- 1758-5791. ; 35:1, s. 69-79
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Journal article (peer-reviewed)abstract
- For mobile robots operating in real-world environments, reactive navigation is a useful complement (or even replacement) to pure plan-based metric navigation. Reactive navigation is performed with respect to local perceived features, rather than a global metric reference frame, and can provide reduced installation costs, increased flexibility, and robustness to changes in the environment. To be effective, however, reactive navigation requires fast and reliable perception of the relevant features in the environment. Corridor-like structures are one of the most common features that are used for this purpose. In this paper, we propose a new method for corridor detection from laser data, based on the Hough transform, which is fast, reliable, and noise tolerant. We describe the algorithm, report an extensive experimental evaluation of its performance, and motivate the research with a real application involving the autonomous operation of a loader vehicle in an underground mine.
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| 6. |
- Larsson, Johan, et al.
(author)
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Laser based intersection detection for reactive navigation in an underground mine
- 2008
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In: IEEE/RSJ international conference on intelligent robots and systems, 2008, IROS 2008. - 9781424420575 ; , s. 2222-2227
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Conference paper (peer-reviewed)abstract
- In this paper we propose a new feature detection algorithm to enable junction recognition intended for high speed reactive navigation in tunnel like environments. We also present an extensive experimental evaluation of the algorithm based on data recorded in a real mine. The algorithm is faster and has less environmental constraints than similar algorithms that can be found in the litterature.
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