Autonomous Tramming System for Open Pit Drilling Platforms

This paper describes a platform for autonomous operations in open pit mining environments. A typical operation consists of: (1) Initial locomotion toward a remote worksite; (2) Pattern navigation within the worksite; (3) Worksite manipulations and (4) Return locomotion to the start location. The platform includes precise localization module based upon the fusion of odometry, inertial and GPS measurements. The guidance module starts from a set of way points specified on a GPSreferenced map and plans and executes the mission. A typical mission includes specified manipulative tasks along the navigation path. During motion execution the on-board system continuously verifies that the path is free of obstacles and that the hardware is not overloaded. Momentary losses of external positioning measurements does not adversely affect the performance, owing to the redundancy in position and heading estimation. A rehearsal phase follows planning and allows the supervisor to examine the kinematic behavior of the platform during motion, thus reducing the need for continuous monitoring during execution and providing protection against potential losses of communication.