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A PATH-PLANNING STRATEGY FOR AN AUTONOMOUS DOZER

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dc.creatorPEDRO EDUARDO MELÍN COLOMA
dc.creatorMARÍA NATHALIE RISSO SEPÚLVEDA
dc.creatorCRISTIAN RODRIGO DURÁN FAÚNDEZ
dc.date2020
dc.date.accessioned2025-01-10T15:17:44Z
dc.date.available2025-01-10T15:17:44Z
dc.date.issued2020
dc.description.abstractIN HARD ROCK MINE OPERATIONS, THE GRAVITATIONAL SEGREGATION OF ORE PARTICLES WITHIN A STOCKPILE CREATES A HIGH VARIATION OF PARTICLE SIZE. THIS ISSUE HAMPERS PRODUCTIVITY IN THE COMMINUTION PROCESS AND HAS A DIRECT EFFECT ON THE DAILY OUTPUT OF PRODUCED MINERALS FROM THE MINE. DOZER OPERATION CAN BE FACILITATED TO MIX THE STOCKPILE MATERIALS FOR MAINTAINING A MORE HOMOGENEOUS PARTICLE SIZE DISTRIBUTION, HOWEVER THIS CAN LEAD TO POTENTIALLY HAZARDOUS SITUATIONS FOR THE MACHINE AND OPERATOR DUE TO THE DYNAMIC NATURE OF THE STOCKPILE. THE USE OF AUTONOMOUS BULLDOZERS IS A NEW TREND FOR MINE EQUIPMENT OPERATION, IMPROVING THE SAFETY OF DOZER OPERATORS WORKING IN THE STOCKPILE BY REMOVING THEM FROM THE MACHINE ALTOGETHER. THIS PAPER DESCRIBES PATH-PLANNING STRATEGY FOR AUTONOMOUS DOZERS TO OPERATE OVER A STOCKPILE WITHIN A PREDEFINED SAFE REGION. FOR THIS PURPOSE, A STOCKPILE MODEL IS DEVELOPED, WHERE LEVEL AND PARTICLE SIZE PROPERTIES ARE USED TO DESCRIBE THE STOCKPILE IN TERMS OF SECTORS. THIS INFORMATION IS THEN USED TO COMMAND THE OPERATION OF AN AUTONOMOUS DOZER OVER THE STOCKPILE BASED ON CURRENT SAG MILL FEED STATE. SIMULATION RESULTS PREDICT ACCEPTABLE BEHAVIOR, PROVIDED THAT SENSOR INFORMATION PROVIDES ENOUGH ACCURACY TO SPECIFY SAFETY AND PERFORMANCE CONSTRAINS.
dc.formatapplication/pdf
dc.identifier.doi10.1109/CHILECON47746.2019.8988087
dc.identifier.urihttps://repositorio.ubiobio.cl/handle/123456789/11334
dc.languagespa
dc.publisher2019 IEEE CHILEAN CONFERENCE ON ELECTRICAL, ELECTRONICS ENGINEERING, INFORMATION AND COMMUNICATION TECHNOLOGIES (CHILECON)
dc.relation.uri10.1109/CHILECON47746.2019.8988087
dc.rightsPUBLICADA
dc.titleA PATH-PLANNING STRATEGY FOR AN AUTONOMOUS DOZER
dc.title.alternativeUNA ESTRATEGIA DE PLANIFICACIÓN DE RUTAS PARA UNA TOPADORA AUTÓNOMA
dc.typeARTÍCULO
dspace.entity.typePublication
ubb.EstadoPUBLICADA
ubb.Otra ReparticionDEPARTAMENTO DE INGENIERIA ELECTRICA Y ELECTRONICA
ubb.Otra ReparticionDEPARTAMENTO DE INGENIERIA ELECTRICA Y ELECTRONICA
ubb.Otra ReparticionDEPARTAMENTO DE INGENIERIA ELECTRICA Y ELECTRONICA
ubb.SedeCONCEPCIÓN
ubb.SedeCONCEPCIÓN
ubb.SedeCONCEPCIÓN
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