Automation of haulers for debris removal in tunnel construction

Tunnel construction is one of the areas of civil engineering where automation systems can increase both safety and productivity. That is why, to promote a continuous improvement and optimization of construction processes, the implementation of intelligent transport systems and, specifically, autonomous vehicles has been proposed as a catalyst for public works construction activity, including tunnels, reducing personnel, and operation costs, as well as improving safety. Under this scope, this paper presents the development of the automation system for a 25‐ton hauler truck, focusing on the task of removing debris from public works, including tunnels. This automation system has been designed, developed, and tested under real conditions in the facilities of two companies dedicated to civil engineering works, including vehicle guidance with and without gobal positioning system, obstacle detection, and tele‐operation for load/unload tasks. The main novelty of the system is the capacity of easy integration into the production system of the works, with a capacity to switch between manual, tele‐operation, or autonomous driving modes, and with specific sensors and control systems for combining indoor and outdoor navigation. The presented work includes the description of the automation of the vehicle, the general architecture, the environment perception, and the tele‐operation capacity, including indoor navigation and obstacle detection algorithms. The proposed system has been implemented and tested in real conditions, demonstrating the performance of the system and the benefit of the automation for this application.