Tracking a vehicle from a rotating platform with a scanning range laser

摘要

This paper describes the development of an algorithm that is able to track the pose of a vehicle as it approaches a rotating platform with a number of scanning range lasers. The target application is path planning and traffic management systems that are able to assist drivers of mining trucks when parking their vehicles with respect to loading machinery (i.e. swing-loaders, rope-shovels and excavators). Experiments using a 1/7 scale model of a dump-truck and swing-loader demonstrates the feasibility of the approach.