Passive Landmark Geometry Optimization and Evaluation for Reliable Autonomous Navigation in Mining Tunnels Using 2D Lidars

Passive Landmark Geometry Optimization and Evaluation for Reliable Autonomous Navigation in Mining Tunnels Using 2D Lidars

Autonomous navigation in mining tunnels is challenging due to the lack of satellite positioning signals and visible natural landmarks that could be exploited by ranging systems. Solutions requiring stable power feeds for locating beacons and transmitters are not accepted because of accidental damage...

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Bibliographic Details
Main Authors: Miguel Torres-Torriti , Paola Nazate-Burgos , Fabián Paredes-Lizama , Javier Guevara, Fernando Auat Cheein
Format: Article
Language:English
Published: MDPI AG 2022-04-01
Series:Sensors
Subjects:
underground mining robots
scan matching
localization and SLAM in tunnels
2D lidar navigation
GPS-denied environment
Online Access:https://www.mdpi.com/1424-8220/22/8/3038

Internet

https://www.mdpi.com/1424-8220/22/8/3038

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