Autonomous Haulage System (AHS) is a comprehensive fleet management system for mines. The dump trucks, which are equipped with vehicle controllers, a high-precision global positioning system (GPS), an obstacle detection system and a wireless network system jointly developed by Komatsu Ltd., Komatsu America Corp. and Modular Mining Systems, Inc., are operated and controlled via a supervisory computer, enabling them to be unmanned. Information on target course and speed is sent wirelessly from the supervisory computer to the driverless dump trucks, while the GPS is used to ascertain their position. When loading, the dump trucks are automatically guided to the loading spot after computing the position of the bucket of the GPS-fitted hydraulic excavator or wheel loader. The supervisory computer also sends information on a specific course to the dumping spot.