Setup of a testing environment for mission planning in mining

J.P.J. Groenen, M. Steinbuch

Research output: Book/ReportReportAcademic

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Mission planning algorithms for surface mining applications are difficult to test as a result of the large scale tasks. To validate these algorithms, a scaled setup is created where the mining excavator is mimicked by an industrial robot. This report discusses the development of a software environment that handles the interaction between the planning algorithm and the physical setup. Topics of discussion are calibration, modeling of a mining shovel, kinematic analysis of trajectories and terrain estimation.
Original languageEnglish
Place of PublicationEindhoven
PublisherEindhoven University of Technology
Publication statusPublished - 2013

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