A method, comprising: detecting (200), by an obstacle detection function of an underground mining vehicle (10) performing an autonomous driving task along a first route comprising a first set of route points, an obstacle on the basis of scanning by a scanner (40) of the mining vehicle, generating (240), by the route planning function, a second route comprising a second set of route points for the mining vehicle to bypass the obstacle, on the basis of a determined expected position being approached by the vehicle, a determined position of the obstacle, and a worksite model indicative of limitations for route generation, providing (250) the second route to an autonomous driving controller of the mining vehicle, and controlling (260), by the autonomous driving controller, the mining vehicle to drive autonomously along the second route.
OBSTACLE AVOIDANCE TRAJECTORY FOR A MINING VEHICLE
ROUTENANPASSUNG FÜR BERGBAUFAHRZEUG
CONTOURNEMENT D'OBSTACLE POUR VÉHICULE MINIER
2024-02-21
Patent
Elektronische Ressource
Englisch
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