Topological Navigation and Localization in Tunnels—Application to Autonomous Load-Haul-Dump Vehicles Operating in Underground Mines

Mobile robots are no longer used exclusively in research laboratories and indoor controlled environments, but now also dynamic industrial including outdoor sites. Mining is one industry where autonomous vehicles increasingly to increase the safety of workers, as well augment productivity, efficiency, predictability processes. Since navigate inside tunnels underground mines, this kind navigation has different precision requirements than navigating an open environment. When driving tunnels, it not relevant have accurate self-localization, necessary for be able move safely through tunnel make appropriate decisions at its intersections access points tunnel. To address these needs, a topological system mining operating proposed validated paper. This was specially designed by Load-Haul-Dump (LHD) vehicles, known scoop trams, mines. In addition, localization system, specifically with associated map, proposed. The systems were using commercial LHD during several months copper sub-level stoping mine located Coquimbo Region northern part Chile. An important aspect addressed when working heavy-duty machinery, such LHDs, way which automation developed tested. For reason, development testing methodology, includes use simulators, scale-models validation, test-fields, final validation mine, described.