Multi-robot Exploration and Mapping Strategy in Underground Mines by Behavior Control

Mauricio, Antoni; Nieves, Ayrton; Castillo, Yomar; Hilasaca, Kenji; Fonseca, Christian; Jhair, Gallardo,; Rodriguez, Ricardo; Rodríguez, Glen

doi:10.1007/978-3-319-09858-6_10

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Path Planning Methods1

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Cited by 2 publications

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“…The research object was coal mine robots, and the scene was disaster relief. Mauricio [33] proposed a strategy of exploration and mapping for multi-robot systems in underground mines where toxic gas concentrations are unknown. The principal algorithm was behavior control.…”

Section: Path Planning Methodsmentioning

confidence: 99%

A Path Planning Method for Underground Intelligent Vehicles Based on an Improved RRT* Algorithm

Wang

Hou

et al. 2022

Electronics

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Path planning is one of the key technologies for unmanned driving of underground intelligent vehicles. Due to the complexity of the drift environment and the vehicle structure, some improvements should be made to adapt to underground mining conditions. This paper proposes a path planning method based on an improved RRT* (Rapidly-Exploring Random Tree Star) algorithm for solving the problem of path planning for underground intelligent vehicles based on articulated structure and drift environment conditions. The kinematics of underground intelligent vehicles are realized by vectorized map and dynamic constraints. The RRT* algorithm is selected for improvement, including dynamic step size, steering angle constraints, and optimal tree reconnection. The simulation case study proves the effectiveness of the algorithm, with a lower path length, lower node count, and 100% steering angle efficiency.

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Section: Path Planning Methodsmentioning

confidence: 99%

A Path Planning Method for Underground Intelligent Vehicles Based on an Improved RRT* Algorithm

Wang

Hou

et al. 2022

Electronics

View full text Add to dashboard Cite

show abstract

Technology-Driven Productivity Improvements With a Focus on ICT-Enabled Automation

2017

Technology-Driven Productivity Improvements and the Future of Work

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Multi-robot Exploration and Mapping Strategy in Underground Mines by Behavior Control

Cited by 2 publications

References 7 publications

A Path Planning Method for Underground Intelligent Vehicles Based on an Improved RRT* Algorithm

A Path Planning Method for Underground Intelligent Vehicles Based on an Improved RRT* Algorithm

Technology-Driven Productivity Improvements With a Focus on ICT-Enabled Automation

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