1

Integrated Planning & Control of Large Tracked Vehicles in Open Terrain

Surya P. N. Singh

spns@acfr.usyd.edu.au

CDM-RG Seminar – February 24, 2010

2 2

Big Picture View of Open-Pit Mining

Drill & Blast

LoadHaul

DumpShipRail

3

Blasthole Drill: The Sharp End of Drill and Blast

• Drill Dynamic Considerations: • Large size (13m long, 15m high) & inertia (98 tones, ~3 kph)• Drill & drill mast vibrate (~50 cm)• Large hydraulic circuitry (300-500 psi, 850+ hp engine)• Complex terrain interaction (terrain plowing)

4 4

Drilling Assistance Control:Leveling & Drilling

• Leveling• Estimation / filtering

needs to be done robustly due to vibration

• Drilling• Many DOF• Hybrid controls:

Collaring, drillingflush, and retrieve

• Various optimizationmetrics:

• Bit-life, drill time, etc.

5

Architecture

6

Non-Holonomic Motion Planning

Deterministic Methods

Path Sets(Trajectory Libraries)

Resolution complete

Tessellate a series of control actions

Sample-based Methods

RRT

Probabilistically complete

Sample states andbuild a graph between

7

Non-Holonomic Motion Planning: Path Sets State Lattices

Deterministic Methods

Path Sets(Trajectory Libraries)

-10 -5 0 5 10

-5

0

5

(m)

(m)

-30 -20 -10 0 10 20 30-25

-20

-15

-10

-5

0

5

10

15

20

25

(m

(m)

Example: RTCMA Autonomous Drill Project

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Various Types of Path Sets

Green-Kelly HausdorffHopf

FibrationFull Tessellation

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Drill’s Path Set

-10 -5 0 5 10-8

-6

-4

-2

0

2

4

6

8

10

Tessellate

-30 -20 -10 0 10 20 30

-20

-15

-10

-5

0

5

10

15

20

11

Path End Straightening

-10 -5 0 5 10-8

-6

-4

-2

0

2

4

6

8

12

Waypoint Control

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Positioning Results

ManualAutomatic

80 cm30 cm