TY  - CHAP
A1  - Ferrein, Alexander
A1  - Nikolovski, Gjorgji
A1  - Limpert, Nicolas
A1  - Reke, Michael
A1  - Schiffer, Stefan
A1  - Scholl, Ingrid
ED  - Küçük, Serdar
T1  - Controlling a Fleet of Autonomous LHD Vehicles in Mining Operation
T2  - Multi-Robot Systems - New Advances
N2  - In this chapter, we report on our activities to create and maintain a fleet of autonomous load haul dump (LHD) vehicles for mining operations. The ever increasing demand for sustainable solutions and economic pressure causes innovation in the mining industry just like in any other branch. In this chapter, we present our approach to create a fleet of autonomous special purpose vehicles and to control these vehicles in mining operations. After an initial exploration of the site we deploy the fleet. Every vehicle is running an instance of our ROS 2-based architecture. The fleet is then controlled with a dedicated planning module. We also use continuous environment monitoring to implement a life-long mapping approach. In our experiments, we show that a combination of synthetic, augmented and real training data improves our classifier based on the deep learning network Yolo v5 to detect our vehicles, persons and navigation beacons. The classifier was successfully installed on the NVidia AGX-Drive platform, so that the abovementioned objects can be recognised during the dumper drive. The 3D poses of the detected beacons are assigned to lanelets and transferred to an existing map.
Y1  - 2023
SN  - 978-1-83768-290-4
U6  - https://doi.org/10.5772/intechopen.113044
PB  - Intech Open
CY  - London
ER  - 
TY  - CHAP
A1  - Schuba, Marko
A1  - Höfken, Hans-Wilhelm
T1  - Cybersicherheit in Produktion, Automotive und intelligenten Gebäuden
T2  - IT-Sicherheit - Technologien und Best Practices für die Umsetzung im Unternehmen
Y1  - 2022
SN  - 978-3-446-47223-5
SN  - 978-3-446-47347-8
U6  - https://doi.org/10.3139/9783446473478.012
SP  - 193
EP  - 218
PB  - Carl Hanser Verlag
CY  - München
ER  - 
TY  - CHAP
A1  - Schuba, Marko
A1  - Höfken, Hans-Wilhelm
ED  - Lang, Michael
ED  - Löhr, Hans
T1  - Cybersicherheit in Produktion, Automotive und intelligenten Gebäuden
T2  - IT-Sicherheit: Technologien und Best Practices für die Umsetzung im Unternehmen
Y1  - 2024
SN  - 9783446480827 (Print)
SN  - 9783446481169 (Online)
N1  - Das Buch ist unter der Signatur 21 TWZ 5(2) in der Bibliothek Eupener Straße verfügbar.
SP  - 311
EP  - 338
PB  - Hanser
CY  - München
ER  -