Reactive navigation for underground autonomous scraper
Abstract：Using reactive navigation technology based on ＂wall-following＂,autonomous navigation algorithm was designed out.By controlling the articulated angle and throttle,the body of the scraper was kept certain safe distance and angle to the wall of the lane and driven autonomously.A type of barcode beacon was designed using barcode technology;it has different code composition and can be easily recognized.With the help of the scanning of the laser radar and the barcode beacon,certain key locations such as start point,mining point and dumping point can be determined,and those accurate locations were supplied to navigation system to make behavior decision.Using ＂wall-following＂ reactive navigation technology and determination of key locations technology with ＂barcode beacon recognition＂,autonomous navigation of the underground scraper was realized.
Keywords：reactive navigationunderground scraperwall-followinglaser radarbarcode beacon
Publication Date：2011-01-01
Online Publishing Date：2025-08-15(First online date of this platform, not the publication date of the document)