Integrated Planning and Control of Large Tracked Vehicles in Open Terrain

Integrated Planning and Control of Large Tracked Vehicles in Open Terrain. Fan, X., Singh, S. P. N., Oppolzer, F., Nettleton, E., Hennessy, R., Lowe, A., & Durrant-Whyte, H. In International Conference on Robotics and Automation, pages 4424 -4430, May, 2010.
doi abstract bibtex

Trajectory generation and control of large equipment in open field environments involves systematically and robustly operating in uncertain and dynamic terrain. This paper presents an integrated motion planning and control system for tracked vehicles. Flexible path-end adjustments and adaptive look-ahead are introduced to a state lattice planning approach with waypoint control. For a given processing horizon, this increases search coverage and reduces planning error. This tramming approach has been successfully fielded on a 98-ton autonomous blast hole drill rig used in iron ore mining in Western Australia. The system has undergone extensive testing and is now integrated into a production environment. This work is a key element in a larger program aimed at developing a fully autonomous, remotely operated mine.

@INPROCEEDINGS{spns.icra2010.ipc,
  author = {X. Fan and S. P. N. Singh and F. Oppolzer and E. Nettleton and R.
	Hennessy and A. Lowe and H. Durrant-Whyte},
  title = {Integrated Planning and Control of Large Tracked Vehicles in Open
	Terrain},
  booktitle = {International Conference on Robotics and Automation},
  year = {2010},
  pages = {4424 -4430},
  month = may,
  abstract = {Trajectory generation and control of large equipment in open field
	environments involves systematically and robustly operating in uncertain
	and dynamic terrain. This paper presents an integrated motion planning
	and control system for tracked vehicles. Flexible path-end adjustments
	and adaptive look-ahead are introduced to a state lattice planning
	approach with waypoint control. For a given processing horizon, this
	increases search coverage and reduces planning error. This tramming
	approach has been successfully fielded on a 98-ton autonomous blast
	hole drill rig used in iron ore mining in Western Australia. The
	system has undergone extensive testing and is now integrated into
	a production environment. This work is a key element in a larger
	program aimed at developing a fully autonomous, remotely operated
	mine.},
  doi = {10.1109/ROBOT.2010.5509392},
  fauthor = {Xiuyi Fan and Surya P. N. Singh and Florian Oppolzer and Eric Nettleton
	and Ross Hennessy and Alexander Lowe and Hugh Durrant-Whyte},
  issn = {1050-4729},
  keywords = {98-ton autonomous blast hole drill rig;Western Australia;adaptive
	look-ahead;integrated control;iron ore mining;large equipment;large
	tracked vehicles;motion control;motion planning;open field environments;open
	terrain;path-end adjustments;planning error;production environment;search
	coverage;state lattice planning;trajectory control;trajectory generation;drilling;mining;motion
	control;path planning;position control;tracked vehicles;},
  pdf = {ICRA2010_Drill.pdf}
}

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