3.3.2. Localization Inside Intersection Nodes

Inside intersections, the LHD's pose is defined as its 2D position and orientation. Considering that intersections are small, of just a few meters, the wheel's odometry, and the results of the ICP matching between the LIDAR point cloud and the LIDAR-landmark that describes the intersection node are used directly to update the LHD pose.

#### 3.3.3. Global Localization

This module knows in each moment the node in which the LHD is located. The module also receives the current LHD's pose in the current node's coordinate frame. Using this information it evaluates if the LHD is still in the current node, or if it has moved to a neighbor node. If this is the case, then the estimation of the LHD's pose is transferred into the neighbor node's coordinate system. Each node has the geometric transformation to adjacent nodes so the transition is smooth.

#### *3.4. Navigation*

The navigation scheme is composed of two layers of nodes that enable the path planning and autonomous hauling through the underground tunnels of the mine: the high level and the low level. The high level encompasses two modules: "Navigation Control" and "Deliberative Path Planning", while the low level is comprised of another two modules: "Guidance" and "Command Executor" (see Figure 9).

**Figure 9.** Diagram of the navigation system.
