https://www.mdu.se/

Autonomous machines are expected to be vastly used at construction sites as they can efficiently perform repetitive and dangerous tasks. However, ensuring the operational safety of such autonomous machines in a highly dynamic environment is challenging. Although autonomous machines usually are equipped with a perception system that permits them to navigate locally, there is a need to share a global view of the construction site to reduce the risk of accidents or errors. A digital twin of the construction site map has the potential of fusing the real-time perception from different sources at the site, such as different autonomous machines working at the construction site, analysing them and sharing the needed information to operate safely and effectively at the site. This paper proposes the adoption of the recently published standard, ISO 23247 digital twin framework for manufacturing, to implement and maintain a dynamic map of construction sites. The proposed framework will enable safe and efficient operation of autonomous machines on construction sites.

Construction sites are a special kind of off-road environment that needs dedicated dynamic maps to enable autonomous navigation in such terrains. In this paper, challenges for autonomous navigation on construction sites are first identified. Later, requirements for dynamic maps for autonomous navigation on construction sites are proposed based on the identified challenges.

Construction sites are moving towards using autonomous machines, such as autonomous haulers, to improve productivity and safety. However, enabling efficient and safe navigation of autonomous haulers at an open-pit mining site necessitates a dynamic map of the environment. In our previous works, we introduced a dynamic multi-layered map designed for this purpose. Subsequently, we proposed how to adopt the digital twin standard for manufacturing to implement this map. Yet, the proposed dynamic multi-layered map needs to be validated in real-world scenarios, which are not evident for such off-road domains.This paper presents an analysis of the state-of-practice scenarios used in validating current static maps for a fleet of autonomous haulers performing assigned missions in real-world open-pit mining applications. Drawing from insights from this case study and industrial expertise, this paper suggests validation scenarios for the multi-layer dynamic map. Moreover, the paper discusses simulation tools that could be utilized to assess the feasibility of dynamic maps in such off-road domains at construction sites.