Control and scale model simulation of sensor-guided LHD mining machines

Work has been underway on the development of autonomous (tele-managed) LHD (load, haul, and dump) mining machines. Previous work has shown that ultrasonic sensors exhibit several characteristics which make them a reasonable choice for sensor-based navigation in underground mining operations. The authors discuss recent work done to develop control algorithms for use with these sensors, experiments with a scale model of an LHD miner to verity the ultrasonic-based control and modeling methods, and approaches to developing real-time task level control models. Experimental testing of a scale-model system indicates that acceptable behavior can be achieved if the speed is kept low and a deadband is introduced into the control algorithm. Transition logic appears to be a useful tool for describing the control system at a task level.<>