Autonomous underground tramming for center-articulated vehicles

Authors:
Joshua Marshall;Timothy Barfoot;Johan Larsson
Affiliations:
MDA Space Missions, 9445 Airport Road, Brampton, Ontario L6S 4J3, Canada;MDA Space Missions, 9445 Airport Road, Brampton, Ontario L6S 4J3, Canada;Atlas Copco Rock Drills AB, SE-701 91 Örebro, Sweden
Venue:
Journal of Field Robotics - Special Issue on Field and Service Robotics
Year:
2008

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Abstract

This paper describes the design, implementation, and field testing of an infrastructureless system for autonomous tramming (or hauling) of a center-articulated underground mining vehicle. Such vehicles are ubiquitous in underground mining, and effective automation of their tramming function has been a sought-after technology for more than a decade. This paper reports on the successful development of a fast, reliable, and robust “autotramming” technology that does not require the installation of fixed infrastructure. Included are descriptions of the chosen control architecture, map-based localization technique, and the results of integration and field testing. © 2008 Wiley Periodicals, Inc.