Configuration and construction of an Autonomous Vehicle for a mining task

摘要

This paper describes the synthesis of an Autonomous Vehicle, using a method that aims at the vehicle configuration from concept to implementation. The configuration is expressed as a structure of components that fulfill the specifications to perform a given task under the constraints of a certain environment. The components embody the functionality of a composition of motions that solve the task. The composition is selected through a preliminary analysis, in which a geometric description of the task and the environment is used to combine motions and find viable compositions. Each motion of the selected composition is mapped as a component or components, which are subjected the operation parameters of the motion and in addition the above specifications and constraints (configuration requirements). The components are selected using criteria of engineering and robotics through mathematical expressions that relate the configuration requirements to the component features. An example involving a mining vehicle configuration is presented to demonstrate the feasibility of this approach.