An integrated localization system for robots in underground environments

Industrial Robot

Volumn 36, Issue 3, 2009, Pages 221-229

  Xiong, Caihua ^a   Han, Donggui ^a   Xiong, Youlun ^a  

^a HUAZHONG UNIVERSITY OF SCIENCE AND TECHNOLOGY   (China)

Author keywords

Control applications; Mines; Robotics; Sensors; Tunnels

Indexed keywords

CONTROL APPLICATIONS; DESIGN/METHODOLOGY/APPROACH; DIGITAL COMPASS; FILTERING ALGORITHM; INERTIAL MEASUREMENT UNIT; INTEGRATED SYSTEMS; LOCALIZATION SYSTEM; SYSTEM MODELS; UNDERGROUND ENVIRONMENT; UNSCENTED KALMAN FILTER;

CONTROL THEORY; INTEGRATED OPTICS; MACHINE DESIGN; MINES; MINING; MODEL STRUCTURES; ROBOTICS; ROBOTS; SENSORS; TUNNELS; UNITS OF MEASUREMENT; WIND TUNNELS;

COAL MINES;

EID: 67949118621     PISSN: 0143991X     EISSN: None     Source Type: Journal    
DOI: 10.1108/01439910910950478     Document Type: Article

References (27)

1. Anousaki, G. and Kyriakopoulos, K.J. (2004), "A deadreckoning scheme for skid-steered vehicles in outdoor environments", Proceedings of the 2004 IEEE International Conference on Robotics and Automation, New Orleans, LA, USA, April, pp. 580-5.
2. Barshan, B. and Durrant-Whyte, H.F. (1993), "An inertial navigation system for a mobile robot", Proceedings of the 1993 IEEE/RSJ International Conference on Intelligent Robots and Systems, Yokohama, Japan, July, pp. 2243-8.
3. Barshan, B. and Durrant-Whyte, H.F. (1995), "Inertial navigation systems for mobile robots", IEEE Transactions on Robotics and Automation, Vol. 11, pp. 328-42.
4. Beijing StareNeto Technology Development Co., Ltd (n.d.), XW-VG7200 Inertial Measurement Unit & Vertical Gyroscope User Manual, Beijing StareNeto Technology Development Co., Ltd, Golden Resources Business Center, Beijing.
5. Fu, M.Y., Deng, Z.H. and Zhang, J.W (2003), Kalman Filtering Theory and its Applications in Navigation Systems, Science Press, Edinburgh.
6. Honeywell International Inc. (2006), HMR3000 Digital Compass Module User' Guide, Honeywell International Inc., Morristown, NJ.
7. Julier, S.J. and Uhlmann, J.K. (1997), "A new extension of the Kaiman filter to nonlinear system", Proceedings of AeroSense: The 11th International Symposium on Aerospace/ Defense Sensing, Simulation and Controls, Multi Sensor Fusion, Tracking and Rescource Management II, SPIE, Orlando, FL, USA, pp. 182-93.
8. Julier, S.J. and Uhlmann, J.K. (2004), "Unscented filtering and nonlinear estimation", Proceedings of the IEEE, IEEE Review, Vol. 92 No. 3, pp. 401-22.
9. Julier, S.J., Uhlmann, J.K. and Durrant-Whyte, H.F. (1995), "A new approach for filtering nonlinear systems", Proceedings of the American Control Conference, Seattle, WA, USA, pp. 1628-32.
10. Julier, S., Uhlmann, J. and Durrant-Whyte, H.F. (2000), "A new method for the nonlinear transformation of means and covariances in filters and estimators", IEEE Transactions on Automatic Control, Vol. 45 No. 3, pp. 477-82.
11. Lamon, P. and Siegwart, R. (2004), "Intertial and 3D-odometry fusion in rough terrain - towards real 3D navigation", Proceedings of 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems, Sendai, Japan, September 28-October 2, pp. 1716-21.
12. Li, W and Leung, H. (2004), "Simultaneous registration and fusion of multiple dissimilar sensors for cooperative driving", IEEE Transactions on Intelligent Transportation Systems, Vol. 5 No. 2, pp. 84-98.
13. Litmanovich, Y.A., Lesyuchevsky, V.M. and Gusinsky, V.Z. (2000), "Two new classes of strapdown navigation algorithms", Journal of Guidance, Control, and Dynamics, Vol. 23 No. 1, pp. 34-44.
14. Lobo, J., Lucas, P., Dias, J. and Traga de Almeida, A. (1995), "Inertial navigation system for mobile land vehicles", Proceedings of the IEEE International Symposium on Industrial Electronics ISIE '95, Athens, Greece, July, Vol. 2, pp. 843-8.
15. Madhavan, R., Nettleton, E., Nebot, E., Dissanayake, G., Cunningham, J., Durrant-Whyte, H.F., Corke, P. and Roberts, J. (1999), "Evaluation of internal navigation sensor suites for underground mining vehicle navigation", Proceedings of the 1999 IEEE International Conference on Robotics and Automation, Detroit, MI, USA, May, pp. 999-1004.
16. Makela, H., Lehtinen, H. and Rintanen, K. (1995), "Navigation systems for LHD machines", 2nd IFAC Conference on Intelligent Autonomous Vehicles (IAV'95), Espoo, Finland, June 12-14, pp. 314-9.
17. Naser, E.S., Nassar, S. and Noureldin, A. (2004), "Wavelet de-noising for IMU alignment", IEEE Aerospace and Electronic Systems Magazine, Vol. 19 No. 10, pp. 32-9.
18. Nüchter, A., Surmann, H. and Thrun, S. (2004), "6D SLAM with an application in autonomous mine mapping", Proceedings of the 2004 IEEE International Conference on Robotics and Automation, New Orleans, LA, USA, April, pp. 1998-2004.
19. Qin, Y.Y. (2006), Inertial Navigation, Science Press, Edinburgh.
20. Redmill, K.A., Kitajima, T. and Özgüner, Ü. (2001), "DGPS/ INS integrated positioning for control of automated vehicle", Proceedings of IEEE Intelligent Transportation Systems Conference, Oakland, CA, USA, August 25-29, pp. 172-8.
21. Sabatini, A.M. (2006), "A wavelet-based bootstrap method applied to inertial sensor stochastic error modelling using the Allan variance", Measurement Science and Technology, Vol. 17 No. 11, pp. 2980-8.
22. Savage, P.G. (1998a), "Strap-down inertial navigation integration algorithm design Part 1: attitude algorithms", Journal of Guidance, Control, and Dynamics, Vol. 21 No. 1, pp. 19-28.
23. Savage, P.G. (1998b), "Strap-down inertial navigation integration algorithm design Part 1: attitude algorithms", Journal of Guidance, Control, and Dynamics, Vol. 21 No. 2, pp. 208-21.
24. Savage, P.G. (2002), "Analytical modeling of sensor quantization in strapdown inertial navigation error equations", Journal of Guidance, Control, and Dynamics, Vol. 25 No. 5, pp. 833-42.
25. Scheding, S., Dissanayake, G., Nebot, E.M. and Durrant-Whyte, H.F. (1999), "An experiment in autonomous navigation of an underground mining vehicle", IEEE Transaction on Robotics and Automation, Vol. 15 No. 1, pp. 85-95.
26. St-Pierre, M. and Gingras, D. DR. Ing. (2004), "Comparison between the unscented Kalman filter and the extended Kalman filter for the position estimation module of an integrated navigation information system", IEEE Intelligent Vehicles Symposium, Parma, Italy, June, pp. 831-5.
27. Weston, J.L. and Titterton, D.H. (2000), "Modern inertial navigation technology and its application", Electronics & Communication Engineering Journal IEE, April, pp. 49-64.