Robotic mapping of underground mine passageways
Robotic mapping of underground mine passageways
复制标题
地下矿井通道的机器人测绘
DOI：
10.1179/1743286311y.0000000001
复制
发表时间：
2011
期刊：
影响因子：
--
通讯作者：
N. J. Lavigne
中科院分区：
文献类型：
--
作者：
U. Artan;J. Marshall;N. J. Lavigne
在真实的时间内确定车辆的位置和方向的能力是自动化、交通管理以及在存在多个操作车辆的情况下确保安全的关键使能技术。正如本文所解释的，尽管采矿界有一些误导性的广告，但地下作业尚不存在与基于卫星的全球定位系统（GPS）相当的技术。本文报告了一项研究的初步结果，以开发一种相对低成本和强大的方法，以获得全球一致的地图的地下矿山环境，其目的是支持创建一个基于地图的地下定位技术。所描述的映射技术是基于从移动的机器人研究文献的方法，并证明了通过使用在两个北欧矿山的装载运输倾倒（LHD）机获得的数据。
The ability to determine the position and orientation of vehicles in real time is a key enabling technology for automation, traffic management, and to ensure safety in the presence of multiple operating vehicles. As explained in this paper, despite some misguided advertising within the mining community, a technology comparable to the satellite based global positioning system (GPS), does not yet exist for underground operations. This paper reports on the preliminary results of a study to develop a relatively low cost and robust method for obtaining globally consistent maps of underground mine environments, the purpose of which is to support the creation of a map based underground positioning technology. The described mapping technique is based on an approach from the mobile robotics research literature and is demonstrated by using data acquired with a load–haul–dump (LHD) machine at two Nordic mines.
影响因子：
8.3
作者：
Magnusson, Martin;Lilienthal, Achim;Duckett, Tom
通讯作者：
Duckett, Tom