RT info:eu-repo/semantics/article
T1 Path Planner for Autonomous Exploration of Underground Mines by Aerial Vehicles
A1 Rubio Sierra, Carlos
A1 Domínguez Fernández, Diego
A1 Gonzalo de Grado, Jesús
A1 Escapa García, Luis Alberto
A2 Ingenieria Aeroespacial
K1 Ingeniería aeroespacial
K1 Ingeniería de minas
K1 LIDAR-based navigator
K1 Path planner
K1 Autonomous exploration
K1 Underground mines
K1 Aerial robot
K1 Obstacle avoidance
K1 3318.99 Otras
K1 3304.13 Dispositivos de Transmisión de Datos
AB [EN] This paper presents a path planner solution that makes it possible to autonomously explore underground mines with aerial robots (typically multicopters). In these environments the operations may be limited by many factors like the lack of external navigation signals, the narrow passages and the absence of radio communications. The designed path planner is defined as a simple and highly computationally efficient algorithm that, only relying on a laser imaging detection and ranging (LIDAR) sensor with Simultaneous localization and mapping (SLAM) capability, permits the exploration of a set of single-level mining tunnels. It performs dynamic planning based on exploration vectors, a novel variant of the open sector method with reinforced filtering. The algorithm incorporates global awareness and obstacle avoidance modules. The first one prevents the possibility of getting trapped in a loop, whereas the second one facilitates the navigation along narrow tunnels. The performance of the proposed solution has been tested in different study cases with a Hardware-in-the-loop (HIL) simulator developed for this purpose. In all situations the path planner logic performed as expected and the used routing was optimal. Furthermore, the path efficiency, measured in terms of traveled distance and used time, was high when compared with an ideal reference case. The result is a very fast, real-time, and static memory capable algorithm, which implemented on the proposed architecture presents a feasible solution for the autonomous exploration of underground mines.
PB MDPI
SN 1424-8220
LK https://hdl.handle.net/10612/17664
UL https://hdl.handle.net/10612/17664
NO Rubio-Sierra, C., Domínguez, D., Gonzalo, J., & Escapa, A. (2020). Path Planner for Autonomous Exploration of Underground Mines by Aerial Vehicles. In Sensors (Vol. 20, Issue 15, p. 4259). MDPI AG. https://doi.org/10.3390/s20154259
DS BULERIA. Repositorio Institucional de la Universidad de León
RD Jul 12, 2024