摘要: This paper presents multi-goal planning for an autonomous blasthole drill used in open pit mining operations. Given a pattern to be drilled and constraints on the vehicle's motion orientation when drilling, we wish compute best order which given pattern. Blasthole drilling is asymmetric Traveling Salesman Problem with precedence specifying that some holes must before others. We find minimum cost tour according criteria minimize distance travelled satisfying vehicle constraints. present iterative method solving sequencing problem using combination of Genetic Algorithm simulations use determine true travel between any two holes.
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