Controlling a Fleet of Autonomous LHD Vehicles in Mining Operation

  • 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.

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Metadaten
Author:Alexander FerreinORCiD, Gjorgji Nikolovski, Nicolas Limpert, Michael RekeORCiD, Stefan SchifferORCiD, Ingrid Scholl
DOI:https://doi.org/10.5772/intechopen.113044
ISBN:978-1-83768-290-4
Parent Title (German):Multi-Robot Systems - New Advances
Publisher:Intech Open
Place of publication:London
Editor:Serdar Küçük
Document Type:Part of a Book
Language:German
Year of Completion:2023
Date of the Publication (Server):2024/09/24
Length:21 Seiten
Link:https://doi.org/10.5772/intechopen.113044
Zugriffsart:weltweit
Institutes:FH Aachen / Fachbereich Elektrotechnik und Informationstechnik
FH Aachen / MASKOR Institut für Mobile Autonome Systeme und Kognitive Robotik
open_access (DINI-Set):open_access
collections:Verlag / Intech
Licence (German): Creative Commons - Namensnennung