A method for real-time dynamic fleet mission planning for autonomous mining
Journal article, 2019

This paper introduces a method for dynamic fleet mission planning for autonomous mining (in loop-free maps), in which a dynamic fleet mission is defined as a sequence of static fleet missions, each generated using a modified genetic algorithm. For the case of static fleet mission planning (where each vehicle completes just one mission), the proposed method is able to reliably generate, within a short optimization time, feasible fleet missions with short total duration and as few stops as possible. For the dynamic case, in simulations involving a realistic mine map, the proposed method is able to generate efficient dynamic plans such that the number of completed missions per vehicle is only slightly reduced as the number of vehicles is increased, demonstrating the favorable scaling properties of the method as well as its applicability in real-world cases.

Multivehicle trajectory planning Genetic algorithms Mining Real-time planning

Author

Mattias Wahde

Chalmers, Mechanics and Maritime Sciences, Vehicle Engineering and Autonomous Systems

Mauro Bellone

Chalmers, Mechanics and Maritime Sciences, Vehicle Engineering and Autonomous Systems

Sina Torabi

Chalmers, Mechanics and Maritime Sciences, Vehicle Engineering and Autonomous Systems

Autonomous Agents and Multi-Agent Systems

1387-2532 (ISSN) 1573-7454 (eISSN)

Vol. 33 5 564-590

Safe and Robust Platform for Automated Vehicles (SARPA)

VINNOVA, 2013-07-01 -- 2016-08-31.

Areas of Advance

Transport

Subject Categories

Vehicle Engineering

Computer Vision and Robotics (Autonomous Systems)

DOI

10.1007/s10458-019-09416-y

More information

Latest update

11/7/2019