Heonmoo Kim, Yosoon Choi*
CMES-Computer Modeling in Engineering & Sciences, Vol.127, No.3, pp. 943-964, 2021, DOI:10.32604/cmes.2021.015300
- 24 May 2021
Abstract In underground mine environments where various hazards exist, such as tunnel collapse, toxic gases, the application of autonomous robots can improve the stability of exploration and efficiently perform repetitive exploratory
operations. In this study, we developed a small autonomous driving robot for unmanned environmental monitoring
in underground mines. The developed autonomous driving robot controls the steering according to the distance
to the tunnel wall measured using the light detection and ranging sensor mounted on the robot to estimate its
location by simultaneously considering the measured values of the inertial measurement unit and encoder sensors.
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