Overview of LHD navigation without artificial beacons

This paper describes the realization and the experimental results of the na vigation and guidance system for an autonomous load, haul and dump (LHD) tr uck. The main emphasis of the development work has been in building a navig ation system that does not require extra infrastructure to be installed in the tunnel. The navigation system is based on teaching the routes or route segments, recording the environment model while teaching and using laser sc anners to correct the drift of dead reckoning positioning while driving in automatic mode. (C) 2001 Elsevier Science B.V. All rights reserved.