Micro-Factors-Aware Scheduling of Multiple Autonomous Trucks in Open-Pit Mining via Enhanced Metaheuristics

Abstract

Traditional open-pit mineral transportation systems are typically subject to manual command, frequently leading to vehicular delays and traffic congestion. With the advancement of automation and electrification technologies, this study proposes a highly accurate scheduling method for multiple autonomous trucks in an open-pit mine. This model considers micro-level temporal and spatial factors to tackle the task of scheduling autonomous trucks within open-pit mines. The cost function of the concerned scheduling problem is a comprehensive evaluation of energy consumption, time, and output. Beyond the loading and unloading activities, the model also factors in the charging requirements of autonomous trucks in mining regions. The scheduling model integrates a Voronoi diagram search and optimal spatial path time matching, aiming to provide superior mission planning and decision-making solutions for autonomous trucks in mining regions. For an efficient solution to the scheduling problem, we propose an improved-evolution artificial bee colony (IE-ABC) algorithm. This algorithm improves the global search and re-initialization processes and conducts algorithm ablation experiments to closely examine their impact on optimization. Simulation results across various algorithms, cost function definition strategy, and encoding strategy show that our method can improve scheduling performance in energy consumption and time. Experimental results demonstrate that the proposed model and algorithm can effectively solve the scheduling decision-making problem in an unmanned open-pit mine.

The Optimal Transportation Option in an Underground Hard Coal Mine: A Multi-Criteria Cost Analysis

“…Previous research and analyses of transport systems in mining focus mainly on technical and technological issues [10][11][12]), which undoubtedly serve to modernize mines but are not always a response to current and efficiency needs. In turn, management issues mainly concern transport scheduling in open-pit mines [21][22][23]. For these reasons, this methodology complements the analysis of transport issues in the investment and economic area.…”

“…On the other hand, Fang and Peng (2023) [23] propose the use of autonomous trucks in open-pit mines, which, according to the results of their study, will enable better transportation planning and thus help reduce the cost and time consumption of mining work.…”

Open-Pit Map: An HD Map Data Model for Open-Pit Mines

“…Diverse operational needs, including unmanned transport, shovel-truck coordination, queue management, and scheduling optimization, place greater demands on the elements and attribute representation within HD maps. This necessitates the categorization, definition, and organization of multidimensional data within open-pit mining scenarios [21][22][23]. In order to understand the creation concept of this data model, the typical application scenarios of HD maps in open-pit mines are described in detail.…”