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Open access
Date
2011-01Type
- Conference Paper
ETH Bibliography
yes
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Abstract
This paper presents a technology demonstrator currently under development and describes experiments carried out to date in autonomous bulk material handling using mobile equipment. Our primary platform is a Bobcat S185 skid-steer loader instrumented with an onboard computer, a sensor suite, and a communication link that support various levels of automation, from remote control to supervised autonomy. We present the main system components and discuss the autonomous cleaning of spillage and carryback, common bulk handling task in mining, currently executed exclusively using manually and/or remotely operated loaders. The system architecture is based on Spring, a Robotics Software Framework developed by CSIRO to support rapid development of new robotic systems, distributed as an Open Source package. Show more
Permanent link
https://doi.org/10.3929/ethz-a-010025263Publication status
publishedExternal links
Book title
Proceedings of the 18th World CongressJournal / series
IFAC Proceedings VolumesVolume
Pages / Article No.
Publisher
ElsevierEvent
Subject
Autonomous mobile robots; Control applications; Software tools; Scene segmentationOrganisational unit
03737 - Siegwart, Roland Y. / Siegwart, Roland Y.
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ETH Bibliography
yes
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