WO2001007976A1 - A system for relative vehicle navigation - Google Patents
A system for relative vehicle navigation Download PDFInfo
- Publication number
- WO2001007976A1 WO2001007976A1 PCT/AU2000/000882 AU0000882W WO0107976A1 WO 2001007976 A1 WO2001007976 A1 WO 2001007976A1 AU 0000882 W AU0000882 W AU 0000882W WO 0107976 A1 WO0107976 A1 WO 0107976A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- vehicle
- nodal
- nodes
- path
- map
- Prior art date
Links
- 241000270295 Serpentes Species 0.000 claims abstract description 48
- 230000004807 localization Effects 0.000 claims abstract description 20
- 238000000034 method Methods 0.000 claims description 13
- 230000006870 function Effects 0.000 claims description 9
- 238000012545 processing Methods 0.000 claims description 7
- 238000013138 pruning Methods 0.000 claims description 2
- 230000005855 radiation Effects 0.000 claims description 2
- 238000013459 approach Methods 0.000 description 3
- 238000004422 calculation algorithm Methods 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 230000008901 benefit Effects 0.000 description 2
- 239000003795 chemical substances by application Substances 0.000 description 2
- 238000012937 correction Methods 0.000 description 2
- 238000011161 development Methods 0.000 description 2
- 230000018109 developmental process Effects 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 238000005065 mining Methods 0.000 description 2
- 230000001133 acceleration Effects 0.000 description 1
- 230000006399 behavior Effects 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000005381 potential energy Methods 0.000 description 1
- 230000001681 protective effect Effects 0.000 description 1
- 230000011218 segmentation Effects 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
- 239000013598 vector Substances 0.000 description 1
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
Definitions
- This invention relates to a system for relative vehicle navigation, and particularly relates to such a system for use in underground passageways or tunnels, for instance, an underground mine, and to control the movement of vehicles.
- the underground mining environment is unstructured in a robotic sense but is topologically highly structured. It consists of well-defined paths (tunnels with walls), intersections, muck piles and ore passes.
- the navigation of a vehicle in such an environment can be compared to the task of rally driving, where the navigation of the vehicle is shared between driver and navigator.
- the driver is concerned simply with moving the vehicle forward and staying on the road, whilst the navigator uses pace notes to sequence his/her attention for landmarks, and provide instructions to the driver about the path to take at intersections.
- the navigator uses pace notes to sequence his/her attention for landmarks, and provide instructions to the driver about the path to take at intersections.
- In order to drive successfully there is no need for precise absolute location data. The only time the location of the vehicle is needed is at intersections where a decision must be made. Fortunately, the very nature of these intersections make them easy to identify (coupled with odometry data and expectations from the map) and it is possible to reliably determine the position of the vehicle with respect to the intersection geometry.
- FIG. 1 illustrates the main difference between the ANS and the RNS.
- the ANS there is a predetermined path, in terms of the external coordinate system, for the vehicle to follow. If the vehicle strays from the path (by some offset) then a local path correction is applied to the vehicle.
- the RNS there is no predefined path, only some distant destination.
- the desired path of the vehicle is a local path that is generated to keep the vehicle from hitting the walls.
- Figure 3 illustrates vehicle control using the ANS.
- This system requires a map and a global-path.
- the map contains the position of landmarks used to help establish the location of the vehicle. Localisation is achieved by comparing the landmarks in the mine-map with data from position sensors (e.g. the position of reflective beacons) and fusing this information with dead reckoning.
- the position sensors can be reflective beacons which need to be placed at known positions in the mine.
- the global- path is a set of points, with respect to the external coordinate frame, that define a predetermined path through the mine. Local path planning is achieved by comparing where we are (x,y) with where we should be (x',y'). This tells us where we want to go.
- the correction (dx.dy) is fed into a kinematic model, which is coupled with the state of the vehicle (velocity, acceleration) to estimate a change in heading (d ⁇ ) and speed (dv).
- the ANS is effectively blind - the control of the vehicle is inferred from the position of the vehicle, rather than what the sensors tell it about the environment. If there is any error in the localisation then it is quite possible for the vehicle to collide with a wall. It is an object of the present invention to provide a means to guide a vehicle in an underground environment which does not rely upon an ANS.
- the invention resides in a means of navigating (IEEE Dictionary: "The process of driving a vehicle so as to reach the intended destination"), without localisation infrastructure (this refers to infrastructure that is added to the external environment to help localise the vehicle; it can include active and passive beacons) or external control, an autonomous vehicle along a path that is confined by walls (the wall does not need to be real; it can be conceptual - it is simply a boundary between where the vehicle can and cannot go) that are within range of on-board sensors by determining the relative location and orientation of the walls with respect to the vehicle, the means comprising:
- Means of controlling the vehicle (setting steer angle and ground speed) without localisation comprising hardware and means to:
- the invention resides in a method for navigating a vehicle, the method comprising creating active contours (or snakes) to generate a desired path for the vehicle, using driving hints to guide the or a said snake and/or using steering hints to confine the snake to a specific domain of free space.
- the range data may be generated from on-board sensors which emit and receive electro-magnetic/ultra-sonic radiation to determine the range and bearing of walls.
- the active contours to generate the desired path may be such that: i. the desired path must avoid walls and preferably minimise curvature.
- ii. the length and stiffness of the snake is a function of the vehicle and its state.
- iii. the "energy” of the snake is a defined function of the proximity to walls and its curvature.
- the driving hints to guide the snake along arcs and open areas may: i. modify speed according to local curvature and recommended speed limits. ii. add a "potential gradient energy" term to bias the position of the snake (i.e. keep left).
- the steering hints to guide the snake may be such that: i. radial rails are generated in front of the vehicle, ii. the rails are segmented into bands by the topology of the free space, iii. appropriate bands are selected by steering hints, and iv. snake vertices are fitted to selected bands.
- the desired path to generate steering demand and velocity may compare radius of curvature of vehicle, with radius of curvature of path.
- the invention resides in a means of localising the vehicle without localisation infrastructure comprising:
- the dead-reckoning may be such that: i. vehicle position is defined as the approximate distance to the next node. ii. vehicle position is reset once a node has been passed.
- the range data to find topology of free space in front of vehicle may be such to: i. offset and re-scale data to front centre of vehicle. ii. smooth and re-sample range data. iii. generate contour of equally spaced points.
- the identification of changes in topology as landmarks may comprise: i. skeletonising free space. ii. pruning branches that are insignificant. iii. label remaining intersections as nodes.
- the matching of these nodes to nodal-map to update vehicle position may comprise: i. ignoring nodes that are not expected (from nodal-map and position). ii. matching based upon minimum radius, energy, and connectivity.
- the use of knowledge of position and nodal-map to pass driving hints to vehicle control may include, max-speed, gradient, curvature and wall profile.
- the use of knowledge of position and nodal-path to pass steering hints to vehicle control may include: i. the nodal-path containing a list of nodes that the vehicle must pass through; and ii. the steering hints consisting of turn-left, turn-right, stop, etc.
- the invention resides in the creation of a nodal- map that contains:
- the nature of the arc that connects the nodes may be such to: account for physical limitations (i.e. gradient). to improve the performance of the vehicle. iii. to account for unusual/dangerous conditions, i.e. wall-profile, v. such hints will depend on the direction of travel.
- the means where a nodal-map of the intended path and features is determined by driving the vehicle along the intended path, logging and processing the data obtained from all or any of the aforementioned sensors and storing the nodal-map along with the identifying characteristics of the nodes in memory may comprise: i. A means where the dead-reckoning method is used to estimate the relative position of the nodes along the intended track in either the forward or reverse direction with respect to the vehicle. ii. A means where the range finding data is used generate a representation of the tunnel walls in the mine.
- Figure 1 illustrates a block structure of relative vehicle navigation system.
- Figure 2 illustrates absolute and relative navigation.
- Figure 3 illustrates vehicle control with absolute navigation system
- Figure 4 illustrates vehicle control with relative navigation system.
- Figure 5 illustrates an example of a nodal-map and nodal-path.
- Figure 6 illustrates possible tunnel geometries in which mid-line following is inappropriate.
- Figure 7 illustrates wall following with snakes.
- Figure 8 illustrates turning with snakes.
- Figure 9 illustrates skeletonisation of free space in front of a vehicle.
- Figure 10 illustrates a block diagram of the hardware required to automate a vehicle.
- Figure 11 illustrates graphical user interface, showing skeleton and snake at a Y junction.
- Figure 12 illustrates a side view of a LHD, showing laser sensors.
- Figure 13 illustrates an overhead view of a LHD, showing computer boxes.
- BEST MODE Vehicle control under RNS requires a nodal-map and a nodal-path (see Figure 5).
- the nodal-map is similar to the mine-map of the ANS, in that it contains information about the position of landmarks in the mine, it also contains information about the relative topology between the landmarks and driving hints. The position of these landmarks need only be approximate. For this reason they are referred to as nodes, and the network of nodes is referred to as a nodal-map.
- the nodal-path of the vehicle is then defined as a list of nodes that the vehicle must pass through. The vehicle is controlled by making changes to the heading and velocity to prevent the vehicle from hitting the walls. The walls are seen by on-board sensors.
- the absolute position of the vehicle is not critical to such control, only the relative position of the vehicle with respect to the walls.
- the global position of the vehicle is estimated from dead-reckoning and node recognition. This knowledge is used to influence the behaviour of the vehicle control through hints (i.e. driving and turning strategies).
- RNS the vehicle is controlled by the actual free space in front of the vehicle. In this situation, the vehicle can move without any knowledge of the vehicle's global position. Although such knowledge may be redundant, it is not irrelevant. Without such knowledge, the vehicle may not choose the appropriate path at an intersection.
- knowledge of the vehicle's position allows the vehicle to operate at speeds higher (or lower) than the free-space would recommend (i.e. on long curves, or bumpy terrain).
- vehicle control In RNS, where the vehicle control and localisation have been "de-coupled", the vehicle control can run independently, and at a much higher bandwidth than the localisation. This is a desirable feature for autonomous vehicles.
- vehicle control In practice, vehicle control is performed at a high bandwidth and is seen as a low-levei process, whilst the localisation is the high-level process that can be performed at a much lower bandwidth.
- the nodal-map is a mathematical graph comprising nodes and branches (see left Figure 5).
- the nodal-path can be defined as a list of nodes that the vehicle must pass through (see right Figure 5). For example, and referring to Figure 5, consider the plan to travel from Node A to Node G, via Nodes B, E and F. To navigate this path it is necessary to make decisions only at points B, E and F. In a computer implementation it would comprise multi-linked data-structures. The data- structures representing branches and nodes would be cross-linked. A hash table would be used to map textual node and branch names to the data- structure.
- the nodal-map can be constructed from a physical map of the mine, or it could be constructed by driving the vehicle along the intended path, logging and processing the data from the on-board sensors.
- Each node contains links and angles to connecting branches, whilst each branch segment contains: the length of the branch, links to both head and tail node and driving hints.
- hints can include: a recommended maximum speed, curvature, gradient, and wall following strategies. These strategies are needed to deal with unusual tunnel profiles, such as those shown in Figure 6.
- the strategies might include: follow-left-wall, follow-right-wall, follow- centreline, etc. Curvature may be useful as a feed-forward signal for steering.
- the hints may also assist in segmentation/interpretation of the external sensor data (i.e. node recognition).
- the task of the Driver module (left-hand side of Figure 1) is to control the vehicle, to move it forward through the mine without hitting the walls and avoiding obstacles.
- the Driver module requires no knowledge of the location of the vehicle with respect to a global co-ordinate frame.
- the control module is given two demands from the Wall-Following module: speed
- the task of the Wall-Following module (see Figure 1) is to generate a steering angle (a) to prevent the vehicle from hitting the wall with respect to the immediate walls within the mine.
- An analogy is a guided bus- way, where instead of rubber wheels on the side of the bus, a laser beam keeps the vehicle on track.
- a desired vehicle path needs to be constructed. This can be done with active contours (called snakes).
- snakes is a set of points (vertebra) that define a line, or spline (see Figure 7). The position of each vertebra is iteratively determined by minimising the energy of the snake.
- the snake has three energy terms: external, internal and potential. In this case, the external energy manifests itself as a repulsive force between the nodes of the snake and the wall.
- the internal energy manifests itself as a function of the curvature of the snake.
- the total length of the snake is a function of the speed of the vehicle, and its stiffness a function of the maximum turning circle of the vehicle.
- a potential energy function is added to account for hints supplied from the navigator (i.e. keep-left). To control turning, the snake can be excluded from regions of space (see Figure 8). This is done with hints from the navigator (i.e. turn left).
- each vertebra of the snake is placed on a different "rail" that is a fixed distance from the front of the vehicle (i.e. 1 m to 15m). Each vertebra is then free to move to the left or right, along the rail. Furthermore, given what is known about the free space in front of the vehicle it is possible to generate bands, which define the upper-bound and lower-bound position of the vertebra. Thus, given hints from the navigator, it is possible to select a band for turning (i.e. left band, right band).
- the task of the Navigator module (see right-hand side of Figure 1) is to supply the Wall-Following module with instructions and hints based upon a nodal-path. To do this, the navigator must be able to estimate the position of the vehicle (Localization module). In the nodal representation, the position of the vehicle is described by the name of the current branch, and the distance to the next node. It can be estimated from:
- Dead-reckoning determining the position of the vehicle with respect to its position at a different time by the application of vectors representing course and distance.
- Node recognition being able to recognise the identity of a node
- the nodes occur in a known sequence (e.g. A then B, then E and so on).
- the vehicle has an expectation of the next node to be encountered.
- the node recognition software would be "looking” for a decrease in the free path distance ahead of the vehicle. If a left-hand branch were expected, the node recognition software would be "looking” for laser reflections from points to the left of the currently estimated left-hand wall. Once the vehicle has identified a node and is confident of the precise datum point (based upon laser and measured features) and the vehicle position with respect to the datum, then the odometry can be reset ready for the next branch. Once the left turn has been made, a new branch is selected and the node recognition software algorithm starts looking for the next node. The identification of nodes (landmarks) based upon range data can be confused by noise and changes in orientation.
- the preferred embodiment of this routine is with a skeletonisation algorithm.
- This is a classical image processing algorithm that reduces a two dimensional shape into a curve with the same homotopy (see Figure 9).
- the skeleton is a powerful shape factor for feature recognition because it contains both topological and metric information.
- the topological values include the number of end points and the number of nodes where branches meet.
- the metric values are the mean length of branches and the angles of the branches. This closely duplicates the features in the nodal-map.
- One of the best features for recognition is the node radius - the distance from the node to the nearest wall. It has been found that end-nodes can be safely pruned if their radius overlaps their parent node.
- One method of implementation of the system according to the invention is to install it with an existing tele-operated vehicle control system.
- a typical tele-operation system requires a human operator to control the vehicle from a remote location via a conventional radio remote control system.
- Video images from vehicle-mounted cameras are used by the operator to guide the vehicle.
- the operator can control all of the necessary vehicle functions using joysticks and associated switches.
- the control commands are transmitted from a radio transmitter to the vehicle mounted receiver (see Figure 10).
- the control of the vehicle can be switched between the teleoperation (default) and automation.
- This implementation has a number of advantages: 1. There is only one point of control.
- the safety systems build into the tele-op systems can be used. 4.
- the vehicle can be switched back into tele-op mode.
- Automation is achieved by examining the data from sensors, whether it be images from a TV camera or range data from laser scanners. To be able to perform automation off-board it is necessary for all of this sensor data to be transmitted over RF (Radio Frequency). Unfortunately, the underground environment is very poor environment for RF, and thus, the bandwidth for such information is very low. Since, a great deal of data is needed to navigate a vehicle at high speed, one solution is to place the automation system on-board.
- RF Radio Frequency
- each module has an associated RPC server, which can connect to a Tcl/Tk client (TclTk is a simple scripting graphics language).
- TclTk is a simple scripting graphics language
- This client can be run on any laptop 0 with an operating system that supports TclTk.
- GUI graphical user interface
- FIG 11 An example of the graphical user interface (GUI) used to display the snake and skeleton is shown in Figure 11 , where the vehicle is shown in the lower right corner, and the dark area represents the free space in front of the vehicle. Radial rails are generated in this free space at 1m intervals. Two paths are identified (left and 5 right) with the skeletonisation of free space. The left-hand path is selected and the snake is restricted to the left-hand bands of the top four rails (13 to 16).
- the arc that is labelled with numbers represents the position of the snake that has the minimum energy (curvature and repulsive force from walls).
- the wall bias is not used in this example, it may have been useful to o shift the path to the left, to "hug" the left wall.
- a side view of the LHD is shown in Figure 12, showing the position of the Erwin SICK PLS's (Scanning Range Laser) front and rear. They have a range of 50m, with 0.5 degree angular resolution and a scanning angle of 180 degrees at 25 Hz. Communication with the CPU's is over a serial 5 interface running at ⁇ OOkbaud via a dedicated 68360 processor. In a production model these lasers would be lowered into protective boxes.
- An overhead view of the LHD is shown in Figure 13, showing the position of the two computers, and assorted power supplies etc. In a production model, most of these components can be packed into a single box. 0 It should be appreciated that various changes and modifications can be made to the embodiments described without departing from the spirit and scope of the invention.
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Multimedia (AREA)
- Electromagnetism (AREA)
- Aviation & Aerospace Engineering (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Remote Sensing (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Navigation (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Traffic Control Systems (AREA)
Abstract
Description
Claims
Priority Applications (9)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
BR0013057-5A BR0013057A (en) | 1999-07-23 | 2000-07-24 | Means to drive and locate, without location infrastructure or external control, an autonomous vehicle, as well as a nodal map |
CA2380048A CA2380048C (en) | 1999-07-23 | 2000-07-24 | A system for relative vehicle navigation |
NZ516833A NZ516833A (en) | 1999-07-23 | 2000-07-24 | A system for relative vehicle navigation, typically for autonomous vehicles in underground mines |
US10/031,775 US6694233B1 (en) | 1999-07-23 | 2000-07-24 | System for relative vehicle navigation |
APAP/P/2002/002400A AP1448A (en) | 1999-07-23 | 2000-07-24 | A system for relative vehicle navigation. |
EP00945452A EP1204905A4 (en) | 1999-07-23 | 2000-07-24 | A system for relative vehicle navigation |
AU59544/00A AU779583B2 (en) | 1999-07-23 | 2000-07-24 | A system for relative vehicle navigation |
PL00356260A PL356260A1 (en) | 1999-07-23 | 2000-07-24 | A system for relative vehicle navigation |
MXPA02000851A MXPA02000851A (en) | 1999-07-23 | 2000-07-24 | A system for relative vehicle navigation. |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
AUPQ1816A AUPQ181699A0 (en) | 1999-07-23 | 1999-07-23 | A system for relative vehicle navigation |
AUPQ1816 | 1999-07-23 |
Publications (1)
Publication Number | Publication Date |
---|---|
WO2001007976A1 true WO2001007976A1 (en) | 2001-02-01 |
Family
ID=3815997
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/AU2000/000882 WO2001007976A1 (en) | 1999-07-23 | 2000-07-24 | A system for relative vehicle navigation |
Country Status (12)
Country | Link |
---|---|
US (1) | US6694233B1 (en) |
EP (1) | EP1204905A4 (en) |
CN (1) | CN1193282C (en) |
AP (1) | AP1448A (en) |
AU (1) | AUPQ181699A0 (en) |
BR (1) | BR0013057A (en) |
CA (1) | CA2380048C (en) |
MX (1) | MXPA02000851A (en) |
NZ (1) | NZ516833A (en) |
PL (1) | PL356260A1 (en) |
WO (1) | WO2001007976A1 (en) |
ZA (1) | ZA200200569B (en) |
Cited By (8)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2005003808A1 (en) * | 2003-07-03 | 2005-01-13 | Sandvik Tamrock Oy | Method and system for monitoring location of mining vehicle |
CN100423964C (en) * | 2003-12-01 | 2008-10-08 | 沃尔沃技术公司 | Method and system for supporting path control |
US7725232B2 (en) | 2003-07-03 | 2010-05-25 | Sandvik Mining And Construction Oy | Arrangement for monitoring the location of a mining vehicle in a mine |
CN105501277A (en) * | 2015-12-21 | 2016-04-20 | 中南大学 | Electromagnetic navigation self-homing supermarket trolley and homing method thereof |
US9594376B2 (en) | 2011-11-18 | 2017-03-14 | Atlas Copco Rock Drills Ab | Method and system for driving a mining and/or construction machine in a safe manner without the risk of collision |
US9969283B2 (en) | 2013-09-10 | 2018-05-15 | General Electric Company | Battery changing system and method |
US10113425B2 (en) | 2014-09-23 | 2018-10-30 | Underground Extraction Technologies Pty Ltd | Underground mining system for reduced costs, improved efficiencies, higher productivity and a safer working environment through penetrated block extraction |
US10343680B2 (en) | 2011-11-18 | 2019-07-09 | Epiroc Rock Drills Aktiebolag | Method and system for driving a mining and/or construction machine |
Families Citing this family (56)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
UA77662C2 (en) * | 2000-10-10 | 2007-01-15 | Dbt America Inc | Automated continuous haulage apparatus |
JP3996015B2 (en) * | 2002-08-09 | 2007-10-24 | 本田技研工業株式会社 | Posture recognition device and autonomous robot |
FI115678B (en) * | 2003-03-25 | 2005-06-15 | Sandvik Tamrock Oy | Arrangement for Mining Vehicle Collision Prevention |
US7026956B1 (en) * | 2003-10-23 | 2006-04-11 | Rockwell Collins, Inc. | Method of integrating speed deviation cues in a vehicle navigation display |
JP2006302030A (en) * | 2005-04-21 | 2006-11-02 | Mitsubishi Electric Corp | Content input/output controller and on-vehicle system |
ATE504872T1 (en) | 2005-07-26 | 2011-04-15 | Macdonald Dettwiler & Associates Inc | GUIDANCE, NAVIGATION AND CONTROL SYSTEM FOR A VEHICLE |
US20080039991A1 (en) * | 2006-08-10 | 2008-02-14 | May Reed R | Methods and systems for providing accurate vehicle positioning |
NL1032663C2 (en) * | 2006-10-11 | 2008-04-14 | Maasland Nv | System for delimiting an area. |
CA2682256C (en) * | 2007-03-21 | 2017-01-03 | Commonwealth Scientific And Industrial Research Organisation | Method for planning and executing obstacle-free paths for rotating excavation machinery |
CN101324437B (en) * | 2007-06-13 | 2010-10-27 | 香港理工大学 | Method and device for displaying navigation circuit |
DE202007016156U1 (en) * | 2007-11-16 | 2008-03-20 | Noell Mobile Systems Gmbh | Portal forklift with automatic steering |
IL193216A (en) * | 2008-08-04 | 2013-08-29 | Israel Aerospace Ind Ltd | System for detecting suspected area |
US8384776B2 (en) * | 2009-04-22 | 2013-02-26 | Toyota Motor Engineering And Manufacturing North America, Inc. | Detection of topological structure from sensor data with application to autonomous driving in semi-structured environments |
US8392117B2 (en) | 2009-05-22 | 2013-03-05 | Toyota Motor Engineering & Manufacturing North America, Inc. | Using topological structure for path planning in semi-structured environments |
KR101464955B1 (en) * | 2009-08-18 | 2014-11-25 | 크라운 이큅먼트 코포레이션 | Steer correction for a remotely operated materials handling vehicle |
CN102192739B (en) * | 2010-03-09 | 2013-11-06 | 深圳市宇恒互动科技开发有限公司 | Navigating instrument and system for mine |
JP2013540985A (en) * | 2010-07-26 | 2013-11-07 | コモンウェルス サイエンティフィック アンドインダストリアル リサーチ オーガナイゼーション | Three-dimensional scanning beam system and method |
CN102346257A (en) * | 2010-07-29 | 2012-02-08 | 深圳市凯立德欣软件技术有限公司 | Navigation equipment and tunnel navigation method thereof |
US9587491B2 (en) | 2010-09-22 | 2017-03-07 | Joy Mm Delaware, Inc. | Guidance system for a mining machine |
CN101976068A (en) * | 2010-09-22 | 2011-02-16 | 上海交通大学 | Against-the-wall travel ultrasonic-navigation device for autonomous greenhouse moving platform |
FR2975191B1 (en) | 2011-05-09 | 2013-06-14 | Etienne Vautherin | METHOD OF GEOLOCATION IN A PERTURB RADIOFREQUENCY TRANSMISSION ENVIRONMENT |
EP3495607B1 (en) | 2011-08-03 | 2020-10-14 | Joy Global Underground Mining LLC | Stabilization system for a mining machine |
US9606217B2 (en) * | 2012-05-01 | 2017-03-28 | 5D Robotics, Inc. | Collaborative spatial positioning |
SE537163C2 (en) * | 2012-05-02 | 2015-02-24 | Atlas Copco Rock Drills Ab | Method and system for operating a mobile mining machine in a tunnel and a mobile mining machine |
CN102749631A (en) * | 2012-07-26 | 2012-10-24 | 海华电子企业(中国)有限公司 | Method for reducing positioning drift of Big Dipper satellite navigating and positioning device |
US8965641B2 (en) | 2012-09-19 | 2015-02-24 | Caterpillar Inc. | Positioning system using radio frequency signals |
CN103838240B (en) * | 2012-11-27 | 2018-02-27 | 联想(北京)有限公司 | Control method and electronic equipment |
DE102013009252A1 (en) * | 2013-06-03 | 2014-12-04 | Trw Automotive Gmbh | Control unit and method for an emergency steering assist function |
US10262462B2 (en) | 2014-04-18 | 2019-04-16 | Magic Leap, Inc. | Systems and methods for augmented and virtual reality |
KR102197801B1 (en) * | 2013-10-31 | 2021-01-04 | 현대모비스 주식회사 | Apparatus and method for generating driving path of vehicle |
WO2015097905A1 (en) | 2013-12-27 | 2015-07-02 | 株式会社小松製作所 | Management system and management method for mining machine |
CN103869282B (en) * | 2014-02-14 | 2016-03-30 | 北京矿冶研究总院 | Method and device for quickly acquiring course angle of trackless vehicle in underground roadway environment |
NL2012485B1 (en) * | 2014-03-20 | 2016-01-18 | Lely Patent Nv | Method and system for navigating an agricultural vehicle on a land area. |
RU2718447C2 (en) | 2014-08-28 | 2020-04-06 | ДЖОЙ ЭмЭм ДЕЛАВЭР, ИНК. | Monitoring of roof fixation in continuous development system |
US9506343B2 (en) | 2014-08-28 | 2016-11-29 | Joy Mm Delaware, Inc. | Pan pitch control in a longwall shearing system |
ZA201506069B (en) | 2014-08-28 | 2016-09-28 | Joy Mm Delaware Inc | Horizon monitoring for longwall system |
US9659491B2 (en) * | 2015-03-19 | 2017-05-23 | Here Global B.V. | Dynamic location referencing strands |
US10405143B2 (en) | 2016-03-24 | 2019-09-03 | Denso International America, Inc. | Systems and methods for autonomous equipment operation where GPS not available |
EP3269679B1 (en) | 2016-07-14 | 2019-09-11 | Toyota Material Handling Manufacturing Sweden AB | Floor conveyor |
EP3269680B1 (en) | 2016-07-14 | 2020-09-30 | Toyota Material Handling Manufacturing Sweden AB | Floor conveyor |
EP3269678B1 (en) | 2016-07-14 | 2019-03-06 | Toyota Material Handling Manufacturing Sweden AB | Floor conveyor |
JP6727985B2 (en) * | 2016-08-18 | 2020-07-22 | 株式会社東芝 | Information processing apparatus, information processing method, and moving body |
AU2017225005B2 (en) | 2016-09-19 | 2021-07-08 | The Goodyear Tire & Rubber Company | Mining vehicle monitoring and control system |
US11391579B2 (en) | 2017-01-27 | 2022-07-19 | Cpac Systems Ab | Method for forming a local navigation path for an autonomous vehicle |
US10380890B2 (en) * | 2017-02-08 | 2019-08-13 | Baidu Usa Llc | Autonomous vehicle localization based on walsh kernel projection technique |
WO2018223028A1 (en) | 2017-06-02 | 2018-12-06 | Joy Global Underground Mining Llc | Adaptive pitch steering in a longwall shearing system |
US10386856B2 (en) | 2017-06-29 | 2019-08-20 | Uber Technologies, Inc. | Autonomous vehicle collision mitigation systems and methods |
US10606271B2 (en) | 2017-07-17 | 2020-03-31 | The Boeing Company | Magnetic navigation and positioning system |
US10065638B1 (en) * | 2017-08-03 | 2018-09-04 | Uber Technologies, Inc. | Multi-model switching on a collision mitigation system |
JP6940365B2 (en) * | 2017-10-12 | 2021-09-29 | 日立Astemo株式会社 | Information updater |
JP7052709B2 (en) * | 2018-12-25 | 2022-04-12 | トヨタ自動車株式会社 | Vehicle control device and vehicle control method |
US10928827B2 (en) * | 2019-01-07 | 2021-02-23 | Toyota Research Institute, Inc. | Systems and methods for generating a path for a vehicle |
CN111696048B (en) * | 2019-03-15 | 2023-11-14 | 北京四维图新科技股份有限公司 | Smoothing processing method and device for wall sampling line |
CN111142525B (en) * | 2019-12-31 | 2023-04-25 | 武汉中海庭数据技术有限公司 | High-precision map lane topology construction method and system, server and medium |
CA3179458A1 (en) * | 2020-05-20 | 2021-11-25 | Joe Cronin | Excavation inspection and clearance system |
AU2022335876B2 (en) * | 2022-03-21 | 2024-07-04 | China University Of Mining And Technology | Low-energy-consumption grading and positioning method for coal mine auxiliary transportation vehicle and system thereof |
Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH07281748A (en) * | 1994-04-15 | 1995-10-27 | Nippondenso Co Ltd | Method and system for self-propelled object operation |
US5502638A (en) * | 1992-02-10 | 1996-03-26 | Honda Giken Kogyo Kabushiki Kaisha | System for obstacle avoidance path planning for multiple-degree-of-freedom mechanism |
US5570285A (en) * | 1993-09-12 | 1996-10-29 | Asaka; Shunichi | Method and apparatus for avoiding obstacles by a robot |
US5999865A (en) * | 1998-01-29 | 1999-12-07 | Inco Limited | Autonomous vehicle guidance system |
US6134502A (en) * | 1998-11-30 | 2000-10-17 | Caterpillar Inc. | Energy-based approach for obstacle avoidance |
Family Cites Families (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US5172315A (en) * | 1988-08-10 | 1992-12-15 | Honda Giken Kogyo Kabushiki Kaisha | Automatic travelling apparatus and method |
US5172317A (en) * | 1988-08-10 | 1992-12-15 | Honda Giken Kogyo Kabushiki Kaisha | Automatic travelling apparatus |
US5956250A (en) * | 1990-02-05 | 1999-09-21 | Caterpillar Inc. | Apparatus and method for autonomous vehicle navigation using absolute data |
JPH06300581A (en) * | 1993-04-15 | 1994-10-28 | Fuji Heavy Ind Ltd | Control device for tracking vehicle course |
US5576947A (en) * | 1994-06-30 | 1996-11-19 | Siemens Corporate Research, Inc. | Robot hallway traveler |
US5928309A (en) * | 1996-02-05 | 1999-07-27 | Korver; Kelvin | Navigation/guidance system for a land-based vehicle |
US6411898B2 (en) * | 2000-04-24 | 2002-06-25 | Matsushita Electric Industrial Co., Ltd. | Navigation device |
-
1999
- 1999-07-23 AU AUPQ1816A patent/AUPQ181699A0/en not_active Abandoned
-
2000
- 2000-07-24 US US10/031,775 patent/US6694233B1/en not_active Expired - Lifetime
- 2000-07-24 WO PCT/AU2000/000882 patent/WO2001007976A1/en active IP Right Grant
- 2000-07-24 CN CNB008107718A patent/CN1193282C/en not_active Expired - Fee Related
- 2000-07-24 MX MXPA02000851A patent/MXPA02000851A/en active IP Right Grant
- 2000-07-24 CA CA2380048A patent/CA2380048C/en not_active Expired - Fee Related
- 2000-07-24 AP APAP/P/2002/002400A patent/AP1448A/en active
- 2000-07-24 NZ NZ516833A patent/NZ516833A/en not_active IP Right Cessation
- 2000-07-24 PL PL00356260A patent/PL356260A1/en not_active Application Discontinuation
- 2000-07-24 EP EP00945452A patent/EP1204905A4/en not_active Withdrawn
- 2000-07-24 BR BR0013057-5A patent/BR0013057A/en not_active Application Discontinuation
-
2002
- 2002-01-22 ZA ZA200200569A patent/ZA200200569B/en unknown
Patent Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US5502638A (en) * | 1992-02-10 | 1996-03-26 | Honda Giken Kogyo Kabushiki Kaisha | System for obstacle avoidance path planning for multiple-degree-of-freedom mechanism |
US5570285A (en) * | 1993-09-12 | 1996-10-29 | Asaka; Shunichi | Method and apparatus for avoiding obstacles by a robot |
JPH07281748A (en) * | 1994-04-15 | 1995-10-27 | Nippondenso Co Ltd | Method and system for self-propelled object operation |
US5999865A (en) * | 1998-01-29 | 1999-12-07 | Inco Limited | Autonomous vehicle guidance system |
US6134502A (en) * | 1998-11-30 | 2000-10-17 | Caterpillar Inc. | Energy-based approach for obstacle avoidance |
Non-Patent Citations (2)
Title |
---|
PATENT ABSTRACTS OF JAPAN * |
See also references of EP1204905A4 * |
Cited By (11)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2005003808A1 (en) * | 2003-07-03 | 2005-01-13 | Sandvik Tamrock Oy | Method and system for monitoring location of mining vehicle |
US7725232B2 (en) | 2003-07-03 | 2010-05-25 | Sandvik Mining And Construction Oy | Arrangement for monitoring the location of a mining vehicle in a mine |
AU2004254076B2 (en) * | 2003-07-03 | 2010-10-28 | Sandvik Mining And Construction Oy | Method and system for monitoring location of mining vehicle |
US7853402B2 (en) | 2003-07-03 | 2010-12-14 | Sandvik Mining And Construction Oy | Monitoring location of mining vehicle using base stations in at least two sections of mine |
US7899599B2 (en) | 2003-07-03 | 2011-03-01 | Sandvik Mining And Construction Oy | Arrangement for monitoring the location of a mining vehicle in a mine |
CN100423964C (en) * | 2003-12-01 | 2008-10-08 | 沃尔沃技术公司 | Method and system for supporting path control |
US9594376B2 (en) | 2011-11-18 | 2017-03-14 | Atlas Copco Rock Drills Ab | Method and system for driving a mining and/or construction machine in a safe manner without the risk of collision |
US10343680B2 (en) | 2011-11-18 | 2019-07-09 | Epiroc Rock Drills Aktiebolag | Method and system for driving a mining and/or construction machine |
US9969283B2 (en) | 2013-09-10 | 2018-05-15 | General Electric Company | Battery changing system and method |
US10113425B2 (en) | 2014-09-23 | 2018-10-30 | Underground Extraction Technologies Pty Ltd | Underground mining system for reduced costs, improved efficiencies, higher productivity and a safer working environment through penetrated block extraction |
CN105501277A (en) * | 2015-12-21 | 2016-04-20 | 中南大学 | Electromagnetic navigation self-homing supermarket trolley and homing method thereof |
Also Published As
Publication number | Publication date |
---|---|
AP1448A (en) | 2005-07-26 |
US6694233B1 (en) | 2004-02-17 |
AUPQ181699A0 (en) | 1999-08-19 |
MXPA02000851A (en) | 2003-07-14 |
CN1367886A (en) | 2002-09-04 |
EP1204905A1 (en) | 2002-05-15 |
NZ516833A (en) | 2002-05-31 |
AP2002002400A0 (en) | 2002-03-31 |
CN1193282C (en) | 2005-03-16 |
PL356260A1 (en) | 2004-06-28 |
CA2380048A1 (en) | 2001-02-01 |
CA2380048C (en) | 2011-08-16 |
EP1204905A4 (en) | 2003-07-16 |
ZA200200569B (en) | 2003-06-25 |
BR0013057A (en) | 2002-07-23 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
US6694233B1 (en) | System for relative vehicle navigation | |
CA2739989C (en) | Control and systems for autonomously driven vehicles | |
Roberts et al. | Reactive navigation and opportunistic localization for autonomous underground mining vehicles | |
Duff et al. | Automation of an underground mining vehicle using reactive navigation and opportunistic localization | |
Lan et al. | Continuous curvature path planning for semi-autonomous vehicle maneuvers using RRT | |
Carsten et al. | Global planning on the mars exploration rovers: Software integration and surface testing | |
US11175664B1 (en) | Navigation directly from perception data without pre-mapping | |
US20080059015A1 (en) | Software architecture for high-speed traversal of prescribed routes | |
KR101664575B1 (en) | Method to obstacle avoidance for wheeled mobile robots | |
US20200363212A1 (en) | Mobile body, location estimation device, and computer program | |
JPH10260724A (en) | Map generating method for passage environment | |
Cuesta et al. | Intelligent control of nonholonomic mobile robots with fuzzy perception | |
AU779583B2 (en) | A system for relative vehicle navigation | |
WO2022209465A1 (en) | System, method, and work vehicle | |
Low | A rapid incremental motion planner for flexible formation control of fixed-wing UAVs | |
Duff et al. | Wall following with constrained active contours | |
Yoon et al. | Shape-Aware and G 2 Continuous Path Planning Based on Bidirectional Hybrid A∗ for Car-Like Vehicles | |
Nagel et al. | The Culebra algorithm for path planning and obstacle avoidance in Kat-5 | |
Jha et al. | Coordinated 3-D UAV-UGV exploration with failure recovery | |
Dragt et al. | Navigation of autonomous underground mine vehicles | |
Heidari et al. | Point to-point and path following navigation of mobile robot in farm settings | |
KR20240101479A (en) | Controller and method | |
CN117360551A (en) | Underground unmanned vehicle control method and device, electronic equipment and storage medium | |
Carnegie | Mobile Robot Navigation: The CMU System |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
AK | Designated states |
Kind code of ref document: A1 Designated state(s): AE AG AL AM AT AU AZ BA BB BG BR BY BZ CA CH CN CR CU CZ DE DK DM DZ EE ES FI GB GD GE GH GM HR HU ID IL IN IS JP KE KG KP KR KZ LC LK LR LS LT LU LV MA MD MG MK MN MW MX MZ NO NZ PL PT RO RU SD SE SG SI SK SL TJ TM TR TT TZ UA UG US UZ VN YU ZA ZW |
|
AL | Designated countries for regional patents |
Kind code of ref document: A1 Designated state(s): GH GM KE LS MW MZ SD SL SZ TZ UG ZW AM AZ BY KG KZ MD RU TJ TM AT BE CH CY DE DK ES FI FR GB GR IE IT LU MC NL PT SE BF BJ CF CG CI CM GA GN GW ML MR NE SN TD TG |
|
121 | Ep: the epo has been informed by wipo that ep was designated in this application | ||
DFPE | Request for preliminary examination filed prior to expiration of 19th month from priority date (pct application filed before 20040101) | ||
WWE | Wipo information: entry into national phase |
Ref document number: 2380048 Country of ref document: CA Ref document number: 59544/00 Country of ref document: AU |
|
WWE | Wipo information: entry into national phase |
Ref document number: 2002/00569 Country of ref document: ZA Ref document number: 200200569 Country of ref document: ZA |
|
WWE | Wipo information: entry into national phase |
Ref document number: PA/a/2002/000851 Country of ref document: MX Ref document number: 008107718 Country of ref document: CN |
|
WWE | Wipo information: entry into national phase |
Ref document number: 516833 Country of ref document: NZ |
|
WWE | Wipo information: entry into national phase |
Ref document number: 2000945452 Country of ref document: EP |
|
WWP | Wipo information: published in national office |
Ref document number: 2000945452 Country of ref document: EP |
|
REG | Reference to national code |
Ref country code: DE Ref legal event code: 8642 |
|
WWP | Wipo information: published in national office |
Ref document number: 516833 Country of ref document: NZ |
|
WWE | Wipo information: entry into national phase |
Ref document number: 10031775 Country of ref document: US |
|
WWG | Wipo information: grant in national office |
Ref document number: 516833 Country of ref document: NZ |
|
NENP | Non-entry into the national phase |
Ref country code: JP |
|
WWG | Wipo information: grant in national office |
Ref document number: 59544/00 Country of ref document: AU |