Refine
Year of publication
Institute
Has Fulltext
- no (136) (remove)
Document Type
- Article (71)
- Conference Proceeding (56)
- Part of a Book (7)
- Book (2)
Keywords
- Autonomous mobile robots (2)
- Industry 4.0 (2)
- Multi-robot systems (2)
- Smart factory (2)
- Anomaly detection (1)
- Automation (1)
- Benchmark (1)
- Computational modeling (1)
- Control (1)
- Cyber-physical systems (1)
Planwirtschaft
(2004)
Rugged terrain robot designs are important for field robotics missions. A number of commercial platforms are available, however, at an impressive price. In this paper, we describe the hardware and software component of a low-cost wheeled rugged-terrain robot. The robot is based on an electric children quad bike and is modified to be driven by wire. In terms of climbing properties, operation time and payload it can compete with some of the commercially available platforms, but at a far lower price.
The work in modern open-pit and underground mines requires the transportation of large amounts of resources between fixed points. The navigation to these fixed points is a repetitive task that can be automated. The challenge in automating the navigation of vehicles commonly used in mines is the systemic properties of such vehicles. Many mining vehicles, such as the one we have used in the research for this paper, use steering systems with an articulated joint bending the vehicle’s drive axis to change its course and a hydraulic drive system to actuate axial drive components or the movements of tippers if available. To address the difficulties of controlling such a vehicle, we present a model-predictive approach for controlling the vehicle. While the control optimisation based on a parallel error minimisation of the predicted state has already been established in the past, we provide insight into the design and implementation of an MPC for an articulated mining vehicle and show the results of real-world experiments in an open-pit mine environment.