The tactical movement problem

This paper explores the general problem of systematically changing an environment using a mobile manipulator. The specific application considered is for automated excavation in truck-shovel surface mining operations. A solution is proposed which would allow the use of Model Predictive Control in the planning of shovel positions and dig patterns, to allow the completion of an excavation task. The formulation takes into account a number of constraints such as the reach of the shovel, the excavation cost relative to the shovel position and the shovel physical movement constraints. Simulation results are presented that show a shovel path through the environment and manipulation requirements to complete the task