The tactical movement problem

Beasley, Peter M. and McAree, Peter R. (2010). The tactical movement problem. In: Bevan B. Beamish and David Cusack, Proceedings of the 2010 Australian Mining Technology Conference: Technology Changing the Mining Business Footprint. 2010 Australian Mining Technology Conference, Perth, WA, Australia, (21-34). 13-15 September 2010.

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Name Description MIMEType Size Downloads
Author Beasley, Peter M.
McAree, Peter R.
Title of paper The tactical movement problem
Conference name 2010 Australian Mining Technology Conference
Conference location Perth, WA, Australia
Conference dates 13-15 September 2010
Proceedings title Proceedings of the 2010 Australian Mining Technology Conference: Technology Changing the Mining Business Footprint
Place of Publication Pinjarra Hills, QLD, Australia
Publisher CRC Mining
Publication Year 2010
Sub-type Fully published paper
ISBN 9781921522277
Editor Bevan B. Beamish
David Cusack
Start page 21
End page 34
Total pages 14
Collection year 2011
Language eng
Abstract/Summary This paper explores the general problem of systematically changing an environment using a mobile manipulator. The specific application considered is for automated excavation in truck-shovel surface mining operations. A solution is proposed which would allow the use of Model Predictive Control in the planning of shovel positions and dig patterns, to allow the completion of an excavation task. The formulation takes into account a number of constraints such as the reach of the shovel, the excavation cost relative to the shovel position and the shovel physical movement constraints. Simulation results are presented that show a shovel path through the environment and manipulation requirements to complete the task.
Formatted Abstract/Summary

Q-Index Code E1
Q-Index Status Provisional Code
Institutional Status UQ

Document type: Conference Paper
Collection: School of Mechanical & Mining Engineering Publications
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Created: Fri, 25 Mar 2011, 16:17:10 EST by Deanna Mahony on behalf of School of Mechanical and Mining Engineering