Collision Detection Algorithms for Autonomous Loading Operations of LHD-Truck Systems in Unstructured Underground Mining Environments

Collision Detection Algorithms for Autonomous Loading Operations of LHD-Truck Systems in Unstructured Underground Mining Environments

This study addresses collision detection in the unmanned loading of ore from load-haul-dump (LHD) machines into mining trucks in underground metal mines. Such environments present challenges like heavy dust, confined spaces, sensor occlusions, and poor lighting. This work identifies two primary coll...

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Bibliographic Details
Main Authors: Mingyu Lei, Pingan Peng, Liguan Wang, Yongchun Liu, Ru Lei, Chaowei Zhang, Yongqing Zhang, Ya Liu
Format: Article
Language:English
Published: MDPI AG 2025-07-01
Series:Mathematics
Subjects:
load-haul-dump machine
3D point cloud
inclination sensors
oriented bounding box
collision detection
Online Access:https://www.mdpi.com/2227-7390/13/15/2359
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