2011
ISSN 1650-8580 ISBN 978-91-7668-829-8
Johan Larsson graduated as Civilingenjör from the Royal Institute of Technology, Stockholm, Sweden, in 1997. Since 1998 he has been with Atlas Copco Rock Drills AB in Örebro, Sweden, working with automation of drill rigs and LHDs. In 2004-2011 he has also been a graduate student at the Center for Applied Autonomous Sensor Systems, Örebro University, Örebro, Sweden. Underground mines typically do not represent the best working conditions for humans, and many mining companies have the intent to remove all humans from the ore extraction areas. To achieve this goal automation of the mining machinery is required. One of the riskier jobs in a mine is to operate the Load-Haul-Dump (LHD) vehicles that are used to transport the ore from the blast site to a truck, lorry or directly to a crusher. Today these vehicles are typically controlled by an on-board manual operator. The focus of this thesis is on the development and evaluation of algorithms and methods to enable high productivity unmanned operation of LHDs, including both autonomous navigation and tele operation.
Örebro Studies in Technology 51
örebro 2011
Doktoral Dissertation
