AUTONOMOUS LOADING VEHICLE CONTROLLER

摘要

Provided are dig controller and dig control method embodiments for an autonomous loading vehicle (ALV) used in applications such as mining, construction, and exploration. Embodiments may comprise at least one controller that controls a bucket and/or the ALV in accordance with at least one sensor signal, wherein the at least one sensor signal is representative of interaction between the bucket and the rock pile during a dig. Some embodiments include at least one admittance controller and optionally at least one iterative learning controller (ILC) that uses feedback from at least one previous dig to modify the at least one sensor signal provided to the at least one controller.