A method for real-time dynamic fleet mission planning for autonomous mining
Artikel i vetenskaplig tidskrift, 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

Författare

Mattias Wahde

Chalmers, Mekanik och maritima vetenskaper, Fordonsteknik och autonoma system

Mauro Bellone

Chalmers, Mekanik och maritima vetenskaper, Fordonsteknik och autonoma system

Sina Torabi

Chalmers, Mekanik och maritima vetenskaper, Fordonsteknik och autonoma system

Autonomous Agents and Multi-Agent Systems

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

Vol. 33 5 564-590

Säker och robust plattform för automatiserade fordon och maskiner (SARPA)

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

Styrkeområden

Transport

Ämneskategorier

Farkostteknik

Datorseende och robotik (autonoma system)

DOI

10.1007/s10458-019-09416-y

Mer information

Senast uppdaterat

2019-11-07