Determination of a route in an underground worksite for a mining vehicle

An apparatus configured for determining a route plan for a mining vehicle including structural body members and a movable work device, the apparatus comprising:

• at least one processor;
• and
• at least one memory including computer program code, the at least one memory and the computer program code being configured to, with the at least one processor, cause the apparatus at least to:
• obtain map data associated with a tunnel system of an underground worksite;
• obtain a start position and an end position for a mining vehicle configured to operate in the tunnel system;
• obtain mining vehicle information including at least kinematic restrictions and space restrictions associated with the structural body members of the mining vehicle and the movable work device of the mining vehicle, the kinematic restrictions including movability limits of the movable work device;
• determine at least partly based on the map data, the start and end positions, and the mining vehicle information, a collision free continuous route between the start and end positions for the mining vehicle before starting the collision free continuous route with the mining vehicle, the collision free continuous route having at least one collision free position for the movable work device within the movability limits of the movable work device along the collision free continuous route;
• and
• control the mining vehicle to drive through the determined collision free continuous route.