Ahmad Hemami Vladimir polotski

摘要

Load-haul-dump units (LHD) are loader-type vehicles that are fre- quently employed in the underground mines for transfer of ore form the loading point to ore pass. Because they have to travel in the relatively narrow and restricted underground galleries, they have less height and are narrower than the ordinary mechanical loaders that are used in construction work. Furthermore, they are articu- lated in the middle in order to be able to better negotiate the curves. Automatic navigation of these units is among the essential tasks for The prospect of their fully automated operation.