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| The assistant location algorithm based on beacon identification in underground LHD |
| Received:June 26, 2018 Revised:July 04, 2018 |
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| DOI： |
| KeyWord:beacon identification; location algorithm; morphology processing; |
| Author | Institution |
| yanbo |
北矿机电科技有限责任公司 |
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| Abstract: |
| Aiming at the unmanned driving of underground LHD, an assistant location algorithm using laser scanner to identify beacons is proposed and tested in modeling tunnel. Firstly, based on the beacon feature, the beacon whose data acquisition is achieved by laser scanning sensor is designed. Then the assistant location algorithm is designed. In the driving process of LHD, the assistant location of LHD is completed by identifying beacon to achieve the control of unmanned driving, mainly to identify the fork junction, turning corner and other special sections. Experiments show that this method provides a simple and convenient assistant location algorithm for unmanned underground LHD. |
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