Development of a functional autonomous rover mapping unit for mining application

该项目的目标是开发一种激光雷达/IMU制导的自主测绘坚固型探测车，用于在没有GPS的环境下（如采矿业）进行现场作业。位于约克大学地球与空间科学与工程系的空间工程设计实验室将利用他们在非地形漫游车导航方面的经验来开发一个原型测绘单元。利用COTS MEMS传感器的低成本是今后研究的重点。扩展卡尔曼滤波技术将用于融合多传感器数据。该项目的成功实现了现有矿山测绘的自动化，同时通过采用自主激光雷达/ imu制导的漫游者来提高作业效率并降低成本，从而限制了人类在偏远地区面临的风险。这个项目的结果将

The objective of this engage program is to develop a LIDAR/IMU guided autonomous mapping rugged rover for field operation in the GPS denied environment such as the mining industry. The Space Engineering Design Laboratory, located in the Department of Earth and Space Science and Engineering at York University will employ their experience with off-terrain rover navigation in order to develop a prototype mapping unit. Research attention will be focused on the low-cost by using COTS MEMS sensors. Extended Kalman filter technology will be used to fuse the multi-sensor data. The success of this project enable the automation of mapping existing mines while limit human exposure to risks in remote sites by employing an autonomous LIDAR/IMU-guided rover to improve the operational efficiency and cut costs. The outcome of this project will