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http://dx.doi.org/10.7474/TUS.2020.30.1.076

Field Experiment of a LiDAR Sensor-based Small Autonomous Driving Robot in an Underground Mine  

Kim, Heonmoo (Department of Energy Resources Engineering, Pukyong National University)
Choi, Yosoon (Department of Energy Resources Engineering, Pukyong National University)
Publication Information
Tunnel and Underground Space / v.30, no.1, 2020 , pp. 76-86 More about this Journal
Abstract
In this study, a small autonomous driving robot was developed for underground mines using the Light Detection and Ranging (LiDAR) sensor. The developed robot measures the distances to the left and right wall surfaces using the LiDAR sensor, and automatically controls its steering to drive along the centerline of mine tunnel. A field experiment was conducted in an underground amethyst mine to test the driving performance of developed robot. During five repeated driving tests, the robot showed stable driving performance overall. There were no collision accidents with the wall of mine tunnel.
Keywords
Autonomous driving robot; Underground mine; LIDAR sensor; Field experiment;
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