A novel global re-localization method for underground mining vehicles in haulage roadways: A case study of solid-state LiDAR-equipped load-haul-dump vehicles

IF 6.7 1区工程技术 Q1 CONSTRUCTION & BUILDING TECHNOLOGY

Tunnelling and Underground Space Technology Pub Date : 2024-11-30 DOI:10.1016/j.tust.2024.106270

Jiaheng Wang , Liguan Wang , Yuanjian Jiang , Pingan Peng , Jiaxi Wu , Yongchun Liu

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引用次数: 0

Abstract

This study introduces a global re-localization method for mobile mining vehicles equipped with solid-state LiDAR in underground haulage roadways. The method includes feature extraction from LiDAR data, an improved fast Euclidean clustering algorithm for point cloud classification, and a descriptor based on Delaunay and Extended Delaunay Triangles centered on roadway features. A global re-localization process is established using a historical keyframe search strategy, enabling swift re-localization of mining equipment. 21 experiments were conducted with a load-haul-dump vehicle fitted with solid-state LiDAR across three underground mine haulage roadways. The proposed method achieves rapid global re-localization with an accuracy of within 0.2 m in under 40 ms, demonstrating the significant advantages and practicality of the proposed global re-localization method.

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来源期刊

Tunnelling and Underground Space Technology 工程技术-工程：土木

CiteScore

11.90

自引率

18.80%

发文量

454

审稿时长

10.8 months

期刊介绍： Tunnelling and Underground Space Technology is an international journal which publishes authoritative articles encompassing the development of innovative uses of underground space and the results of high quality research into improved, more cost-effective techniques for the planning, geo-investigation, design, construction, operation and maintenance of underground and earth-sheltered structures. The journal provides an effective vehicle for the improved worldwide exchange of information on developments in underground technology - and the experience gained from its use - and is strongly committed to publishing papers on the interdisciplinary aspects of creating, planning, and regulating underground space.