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http://dx.doi.org/10.7474/TUS.2022.32.3.231

Development of a ROS-Based Autonomous Driving Robot for Underground Mines and Its Waypoint Navigation Experiments  

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.32, no.3, 2022 , pp. 231-242 More about this Journal
Abstract
In this study, we developed a robot operating system (ROS)-based autonomous driving robot that estimates the robot's position in underground mines and drives and returns through multiple waypoints. Autonomous driving robots utilize SLAM (Simultaneous Localization And Mapping) technology to generate global maps of driving routes in advance. Thereafter, the shape of the wall measured through the LiDAR sensor and the global map are matched, and the data are fused through the AMCL (Adaptive Monte Carlo Localization) technique to correct the robot's position. In addition, it recognizes and avoids obstacles ahead through the LiDAR sensor. Using the developed autonomous driving robot, experiments were conducted on indoor experimental sites that simulated the underground mine site. As a result, it was confirmed that the autonomous driving robot sequentially drives through the multiple waypoints, avoids obstacles, and returns stably.
Keywords
Autonomous driving robot; Underground mine; Robot operating system;
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Times Cited By KSCI : 2  (Citation Analysis)
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