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Please use this identifier to cite or link to this item: http://hdl.handle.net/10204/5021

Title: Posture estimation system for underground mine vehicles
Authors: Hlophe, K
Ferreira, G
Green, J
Keywords: Trilateration
Pose estimator
Ultrasonic
Radio frequency
Autonomous systems
Time-of-flight
Issue Date: Sep-2010
Citation: Hlophe, K, Ferreira, G, and Green, J. 2010. Posture estimation system for underground mine vehicles. 25th International Conference on CAD/CAM, Robotics and Factories of the Future (CARsFOF), CSIR International Convention Centre, Pretoria, 13-16 July 2010, pp. 8
Series/Report no.: Workflow;4899
Abstract: Platform pose is a key requirement for autonomous systems. The severe natural conditions and complex terrain of underground mines diminish the performance of classical localization systems. This paper proposes a pose (localization and orientation) estimator that utilizes ultrasonic and electromagnetic signals to facilitate a time-of-flight (TOF) based trilateration. This system decreases maintenance costs by utilizing a wait mode and only operational once a receiver is in the vicinity. The trilateration algorithm utilized is an Ordinary Least Square (OLS) estimator. The pose estimator has two ultrasonic receivers at a fixed separation distance. The two ultrasonic receivers each calculate its unique position. The orientation of the object is obtained from the orientation of a line segment joining the two positions on the object.
Description: 25th International Conference on CAD/CAM, Robotics and Factories of the Future (CARsFOF), CSIR International Convention Centre, Pretoria, 13-16 July 2010
URI: http://hdl.handle.net/10204/5021
Appears in Collections:Mining and geoscience
Mobile intelligent autonomous systems
General science, engineering & technology

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