FusionPlanner: A multi-task motion planner for mining trucks via multi-sensor fusion

doi:10.1016/j.ymssp.2023.111051

CORC > 自动化研究所 > 中国科学院自动化研究所 > 多模态人工智能系统全国重点实验室

	FusionPlanner: A multi-task motion planner for mining trucks via multi-sensor fusion
	Teng, Siyu 7,8; Li, Luxi 7,8; Li, Yuchen 7,8; Hu, Xuemin 6; Li, Lingxi 1,5; Ai, Yunfeng 4,5; Chen, Long 2,3,5
刊名	MECHANICAL SYSTEMS AND SIGNAL PROCESSING
	2024-02-15
卷号	208 页码:18
关键词	Autonomous driving Motion planning Simulation Multi-task Multi-sensor
ISSN号	0888-3270
DOI	10.1016/j.ymssp.2023.111051
通讯作者	Ai, Yunfeng() ; Chen, Long(long.chen@ic.ac.cn)
英文摘要	In recent years, significant achievements have been made in motion planning for intelligent vehicles. However, as a typical unstructured environment, open -pit mining attracts limited attention due to its complex operational conditions and adverse environmental factors. A comprehensive paradigm for unmanned transportation in open -pit mines is proposed in this research. Firstly, we propose a multi -task motion planning algorithm, called FusionPlanner, for autonomous mining trucks by the multi -sensor fusion method to adapt both lateral and longitudinal control tasks for unmanned transportation. Then, we develop a novel benchmark called MiningNav, which offers three validation approaches to evaluate the trustworthiness and robustness of well -trained algorithms in transportation roads of open -pit mines. Finally, we introduce the Parallel Mining Simulator (PMS), a new high-fidelity simulator specifically designed for open -pit mining scenarios. PMS enables the users to manage and control open -pit mine transportation from both the single -truck control and multi -truck scheduling perspectives. The performance of FusionPlanner is tested by MiningNav in PMS, and the empirical results demonstrate a significant reduction in the number of collisions and takeovers of our planner. We anticipate our unmanned transportation paradigm will bring mining trucks one step closer to trustworthiness and robustness in continuous round-the-clock unmanned transportation.
资助项目	National Natural Science Foundation of China[62373356] ; National Natural Science Foundation of China[62273135] ; Natural Science Foundation of Hubei Province in China[2021CFB460]
WOS研究方向	Engineering
语种	英语
出版者	ACADEMIC PRESS LTD- ELSEVIER SCIENCE LTD
WOS记录号	WOS:001153220800001
资助机构	National Natural Science Foundation of China ; Natural Science Foundation of Hubei Province in China
内容类型	期刊论文
源URL	[http://ir.ia.ac.cn/handle/173211/55521]
专题	多模态人工智能系统全国重点实验室
通讯作者	Ai, Yunfeng; Chen, Long
作者单位	1.IUPUI, Dept Elect & Comp Engn, Indianapolis, IN USA 2.Chinese Acad Sci, Inst Automat, State Key Lab Mulimodal Artificial Intelligence S, Beijing, Peoples R China 3.Chinese Acad Sci, Inst Automat, State Key Lab Management & Control Complex Syst, Beijing, Peoples R China 4.Univ Chinese Acad Sci, Sch Artificial Intelligence, Beijing, Peoples R China 5.Waytous Inc, Beijing, Peoples R China 6.Hubei Univ, Sch Artificial Intelligence, Wuhan, Peoples R China 7.BNU HKBU United Int Coll, Dept Comp Sci, Zhuhai, Peoples R China 8.Hong Kong Baptist Univ, Dept Comp Sci, Hong Kong, Peoples R China
推荐引用方式 GB/T 7714	Teng, Siyu,Li, Luxi,Li, Yuchen,et al. FusionPlanner: A multi-task motion planner for mining trucks via multi-sensor fusion[J]. MECHANICAL SYSTEMS AND SIGNAL PROCESSING,2024,208:18.
APA	Teng, Siyu.,Li, Luxi.,Li, Yuchen.,Hu, Xuemin.,Li, Lingxi.,...&Chen, Long.(2024).FusionPlanner: A multi-task motion planner for mining trucks via multi-sensor fusion.MECHANICAL SYSTEMS AND SIGNAL PROCESSING,208,18.
MLA	Teng, Siyu,et al."FusionPlanner: A multi-task motion planner for mining trucks via multi-sensor fusion".MECHANICAL SYSTEMS AND SIGNAL PROCESSING 208(2024):18.