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Many trucks are used for a class of activities involving a sequence of basic load-haul-dump operations. The repetitiveness of this operation has been an enabler for autonomous vehicle technology in efforts to increase safety and efficiency. In this paper, we present a framework for the automation of the load-haul-dump operation in a mine setting using an articulated dump truck. A simulation environment for the testing of autonomous driving algorithms is developed and a custom mining environment is generated to adapt to our simulation settings. We also present an operational decomposition of the sequence of tasks and develop a finite state machine for high-level decision making based on this decomposition. A path tracking module that considers both bodies of the articulated truck is also developed. The resulting architecture was implemented to achieve autonomy for a load-haul-dump operation in the simulated environment within a fixed path. Experiments show that the proposed FSM-path tracking system can automate the load-haul-dump operation; and that the simulation environment can support the testing and development of autonomous driving algorithms for configurations such as an articulated truck.

Physics-Based Simulation and Automation of a Load-Haul-Dump Operation for an Articulated Dump Truck