Table 4 Configuration of difficulty levels of simulated environments.
From: A hybrid MARL clustering framework for real time open pit mine truck scheduling
Aspects | Environmental design | Impact on difficulty |
|---|---|---|
terrain types | Normal: represents standard, baseline conditions with no additional challenges. Road: provides an optimal surface for smoother and faster travel. Hill: simulates areas with noticeable elevation changes, requiring more cautious driving. Mud: depicts challenging surfaces that slow down movement and demand extra effort. | These terrain types create diverse driving conditions. Normal acts as a control scenario, road improves performance, hill introduces moderate challenges, and mud presents the highest difficulty. |
Slope | Implicitly modeled using terrain types. the hill and mud environments simulate areas with significant inclines and declines. | Environments with steeper slopes force tucks to slow down and adjust their control strategies, thereby increasing dispatching complexity. |
Obstacles | Defined as impassable areas in the simulation, strategically placed to mimic real-world blockages or hazards. | The presence and arrangement of obstacles require trucks to alter their routes and decision-making processes, adding complexity to path planning. |
