Navigation algorithm based on teaching-playback system for unmanned dumptrucks in mines

A navigation system using a teaching playback algorithm for unmanned dumptrucks is developed to be adapted to frequent changes of layouts in mines. In this paper, several procedures composing the teaching-playback algorithm such as (1) initializing the position of the dumptruck and defining a coordinate system (initializing procedure), (2) teaching course data (teaching procedure), (3) obtaining the updated positions of the dumptruck for playback (playback procedure) and (4) an additional procedure to manage multiple courses (loop discrepancy measurement procedure) are described. Furthermore, the merits and demerits of the teaching-playback algorithm are discussed.