TY - GEN
T1 - A Path-planning strategy for an Autonomous dozer
AU - Risso, Nathalie
AU - Park, Junhyeok
AU - Lundin, Jack O.
AU - Duran-Faundez, Cristian
AU - Melin, Pedro
N1 - Publisher Copyright: © 2019 IEEE.
PY - 2019/11
Y1 - 2019/11
N2 - In hard rock mine operations, the gravitational segregation of ore particles within a stockpile creates a high variation of particle size. This issue hampers productivity in the comminution process and has a direct effect on the daily output of produced minerals from the mine. Dozer operation can be facilitated to mix the stockpile materials for maintaining a more homogeneous particle size distribution, however this can lead to potentially hazardous situations for the machine and operator due to the dynamic nature of the stockpile. The use of autonomous bulldozers is a new trend for mine equipment operation, improving the safety of dozer operators working in the stockpile by removing them from the machine altogether. This paper describes path-planning strategy for autonomous dozers to operate over a stockpile within a predefined safe region. For this purpose, a stockpile model is developed, where level and particle size properties are used to describe the stockpile in terms of sectors. This information is then used to command the operation of an autonomous dozer over the stockpile based on current SAG mill feed state. Simulation results predict acceptable behavior, provided that sensor information provides enough accuracy to specify safety and performance constrains.
AB - In hard rock mine operations, the gravitational segregation of ore particles within a stockpile creates a high variation of particle size. This issue hampers productivity in the comminution process and has a direct effect on the daily output of produced minerals from the mine. Dozer operation can be facilitated to mix the stockpile materials for maintaining a more homogeneous particle size distribution, however this can lead to potentially hazardous situations for the machine and operator due to the dynamic nature of the stockpile. The use of autonomous bulldozers is a new trend for mine equipment operation, improving the safety of dozer operators working in the stockpile by removing them from the machine altogether. This paper describes path-planning strategy for autonomous dozers to operate over a stockpile within a predefined safe region. For this purpose, a stockpile model is developed, where level and particle size properties are used to describe the stockpile in terms of sectors. This information is then used to command the operation of an autonomous dozer over the stockpile based on current SAG mill feed state. Simulation results predict acceptable behavior, provided that sensor information provides enough accuracy to specify safety and performance constrains.
KW - Automation
KW - Autonomous systems
KW - Mineral processing
UR - https://www.scopus.com/pages/publications/85081051566
UR - https://www.scopus.com/pages/publications/85081051566#tab=citedBy
U2 - 10.1109/CHILECON47746.2019.8988087
DO - 10.1109/CHILECON47746.2019.8988087
M3 - Conference contribution
T3 - IEEE CHILEAN Conference on Electrical, Electronics Engineering, Information and Communication Technologies, CHILECON 2019
BT - IEEE CHILEAN Conference on Electrical, Electronics Engineering, Information and Communication Technologies, CHILECON 2019
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2019 IEEE CHILEAN Conference on Electrical, Electronics Engineering, Information and Communication Technologies, CHILECON 2019
Y2 - 13 November 2019 through 27 November 2019
ER -