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I have a working large scale miner in the workshop that only needs to be guided to a asteroid and then it can drill clean thru on it's own if there are no serious obstacles inside the asteroid.
To make a miner that finds it's own asteroids is far more complicated and dangerous tho.
There exist 2 ways to make a ship fly forwards by it self.
Thruster override will work but it's prone to bouncing back alot.
If a gravity propultion is used, it will depending on the setting gently make the ship move forward at a slow pace and the faster it moves forward the more counter thrust the inertial dampener gives to prevent it from accellerating (it's a carefull balance act).
This method works better as there is less backward bounce.
And a sensor can be used to stop the ship if it leaves the asteroid.
A system of timers and a remote controll can be used to guide a miner towards a asteroid and then start mining it, but for that you need to program coordinates, and at that point it may be simpler to guide it manually by remote instead as you otherwise have to travel in person to get the coordinates and then program it in afterwards...
In theory it is possible to make several gravity guided drones that travel between 2 spherical gravity fields (trapped in the 0 gravity zone created by 2 opposite gravity generators), i have never tried it tho as it's a far risky idea to have 2 miners drill at random within the same area.
But when it comes to automatic mining you need both a stable/balanced and tested design that you confident will be able to do the job at all without fail, else you better off mining manually.
P.s. I can't seem to get this to work on planets. I have to control the ship manually the entire time its mining or it will twist in the hole and get broken. :(