Use a Combination of Path-Planning Algorithms on an Autonomous Haulage Truck

Using the example of an autonomous haulage truck driving at a pit mine, this overview shows how to divide a complex offroad navigation problem into smaller pieces and implement different path planners for each piece to obtain optimal overall performance and run-time speed.

The presenter is Cameron Stabile, a senior developer for Navigation Toolbox™ working out of the MathWorks US Lakeside office. He has supported and authored features such as the 2D and 3D map objects, collision-checking configurations, highway planning tools, and search-, sample-, and control-based planners. More recently, he has been focused on offroad navigation applications, resulting in the open–pit mine reference application. Cameron has a master’s degree in mechanical engineering from Carnegie Mellon, where he focused on navigation and motion planning for tracked AGVs and robotic manipulators for autonomous shipbuilding.