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An Architecture and Key Technologies of Autonomous Truck Dispatching System in Open-pit Mines
Jianlin Tang;Bin Zhao;Chao Yang;Changcheng Zhou;Shichao Chen;Xiaochun Ni;Yunfeng Ai
2022 International Conference on Cyber-Physical Social Intelligence (ICCSI)
Year: 2022 | Conference Paper |
Cited by: Papers (3)
Dispatching system plays an important role in intelligent mines, and the current research on the dispatching system is mainly aimed at manned vehicles. In the new scenario of unmanned transportation in open-pit mines, traditional dispatching systems are not fully appropriate. To meet the requirements of the unmanned transportation in open-pit mines, a new dispatching system framework being suitabl...Show More
Map fusion algorithm for multi-unmanned systems in GNSS-denied environment
2022 7th International Conference on Automation, Control and Robotics Engineering (CACRE)
Year: 2022 | Conference Paper |
The collaborative mapping of multiple-unmanned systems has been widely used in many fields such as national defense, digital mines, and smart cities. As a positioning device that unmanned systems rely heavily on in outdoor environments, intermittent denial of INS/GNSS will occur, which affects the positioning accuracy of unmanned systems and the accuracy of mapping. This paper proposes a multi-unm...Show More
Improved Vehicle LiDAR Calibration With Trajectory-Based Hand-Eye Method
Xuan Yuwen;Long Chen;Fengjun Yan;Hui Zhang;Jianlin Tang;Bin Tian;Yunfeng Ai
In unmanned vehicles, LiDARs and GPS/INSs are the most popular sensors to achieve perception and positioning. Precise calibration of the extrinsic parameters between the LiDAR and the GPS/INS is necessary for a successful implementation of sensor fusion. The extrinsic transformation between the LiDAR and GPS/INS is 6D ( $x$ , $y$ , $z$ , $yaw$ , $pitch$ , $roll$ ), but the motion of a vehicle...Show More
An Improved Cloth Simulation Filtering Algorithm Based on Mining Point Cloud
Liangcai Ren;Jianlin Tang;Chenglin Cui;Ruiqi Song;Yunfeng Ai
2021 International Conference on Cyber-Physical Social Intelligence (ICCSI)
Year: 2021 | Conference Paper |
Detection based on LIDAR point cloud data is an important step of unmanned driving perception system. The ground points, in the complex bumpy, are easily mistakenly detected as the ground object points mining area road by the traditional filtering algorithm. In order to ensure the normal operation of unmanned driving in the mining area, this paper proposes an improved cloth simulation filtering al...Show More
Improvement of End-to-end Automatic Driving Algorithm Based on Reinforcement Learning
Jianlin Tang;Lingyun Li;Yunfeng Ai;Bin Zhao;Liangcai Ren;Bin Tian
The end-to-end model is an important research direction in the field of automatic driving. Reinforcement learning is a common policy for training end-to-end models. Because the Deep Deterministic Policy Gradient algorithm can solve the problem of continuous motion space, it is a good method to deal with the problem of automatic driving. However, the Deep Deterministic Policy Gradient algorithm use...Show More
Road Detection for autonomous truck in mine environment
2019 IEEE Intelligent Transportation Systems Conference (ITSC)
Year: 2019 | Conference Paper |
Cited by: Papers (10)
Road boundary line detection provides information of safe driving range and ensures the safety of the vehicles, which is an important part in the sensing system. Due to the mine roads are complicated and the road boundary lines are blurred, the existing road detection methods are not applicable.In this paper, a real-time road boundary detection algorithm is proposed based on Lidar sensors. For the...Show More
Real-time Display Method for Mining Vehicle Simulation based on Virtual reality
Jianlin Tang;Yu Gao;Huilong Yu;Yile Wang;Yunfeng Ai;Dongpu Cao
2019 IEEE 28th International Symposium on Industrial Electronics (ISIE)
Year: 2019 | Conference Paper |
Cited by: Papers (4)
Mining vehicles are of high importance in the transportation industry, and autonomous mining vehicles have a great need in the coal mining industry. For autonomous mining vehicle testing, testing at the field test site is costly, time consuming, and extremely dangerous. This paper proposes a real-time display method of mining vehicle results based on virtual reality. The method design can display ...Show More
End-to-End Driving Activities and Secondary Tasks Recognition Using Deep Convolutional Neural Network and Transfer Learning
Yang Xing;Jianlin Tang;Hong Liu;Chen Lv;Dongpu Cao;Efstathios Velenis;Fei-Yue Wang
Drivers' decision and their corresponding behaviors are important aspects that can affect the driving safety, and it is necessary to understand the driver behaviors in real-time. In this study, an end-to-end driving-related tasks recognition system is proposed. Specifically, seven common driving activities are identified, which are normal driving, right mirror checking, rear mirror checking, left ...Show More
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