7,824 research outputs found
Autonomous control of underground mining vehicles using reactive navigation
Describes how many of the navigation techniques developed by the robotics research community over the last decade may be applied to a class of underground mining vehicles (LHDs and haul trucks). We review the current state-of-the-art in this area and conclude that there are essentially two basic methods of navigation applicable. We describe an implementation of a reactive navigation system on a 30 tonne LHD which has achieved full-speed operation at a production mine
Motion planning and assembly for microassembly workstation
In general, mechatronics systems have no standard
operating system that could be used for planning and
control when these complex devices are running. The
goal of this paper is to formulate a work platform that can
be used as a method for obtaining precision in the
manipulation of micro-entities using micro-scale
manipulation tools for microsystem applications. This
paper provide groundwork for motion planning and
assembly of the Micro-Assembly Workstation (MAW)
manipulation system. To demonstrate the feasibility of the
idea, the paper implements some of the motion planning
algorithms; it investigates the performance of the
conventional Euclidean distance algorithm (EDA),
artificial potential fields’ algorithm, and A* algorithm
when implemented on a virtual space
Intelligent Behavior of Autonomous Vehicles in Outdoor Environment
The objective of this PhD-project has been to develop and enhance the operational behaviour of autonomous or automated conventional machines under out-door conditions. This has included developing high-level planning measures for the maximisation of machine productivity as an important element in the continued efforts of planning and controlling resource inputs in both arable and high value crops farming. The methods developed generate the optimized coverage path for any field regardless of its complexity on 2D or 3D terrains without any human intervention and in a manner that minimizes operational time, skipped and overlapped areas, and fuel consumption. By applying the developed approaches, a reduction of more than 20% in consumed fossil fuel together with a corresponding reduction in the emissions of CO2 and other greenhouses is achievable.In this work, a software package for the autonomous navigation of field robotics over 2D and 3D field terrains and the optimization of field operations and machinery systems have been developed. A web-based version of the developed software package is currently under progress
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