Research on Downhole MTATBOT Positioning and Autonomous Driving Strategies Based on Odometer-Assisted Inertial Measurement
In response to the current situation of backward automation levels, heavy labor intensities, and high accident rates in the underground coal mine auxiliary transportation system, the mining trackless auxiliary transportation robot (MTATBOT) is presented in this paper. The MTATBOT is specially design...
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| Format: | Article |
| Language: | English |
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MDPI AG
2024-12-01
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| Series: | Sensors |
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| Online Access: | https://www.mdpi.com/1424-8220/24/24/7935 |
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| author | Mingrui Hao Xiaoming Yuan Jie Ren Yueqi Bi Xiaodong Ji Sihai Zhao Miao Wu Yang Shen |
| author_facet | Mingrui Hao Xiaoming Yuan Jie Ren Yueqi Bi Xiaodong Ji Sihai Zhao Miao Wu Yang Shen |
| author_sort | Mingrui Hao |
| collection | DOAJ |
| description | In response to the current situation of backward automation levels, heavy labor intensities, and high accident rates in the underground coal mine auxiliary transportation system, the mining trackless auxiliary transportation robot (MTATBOT) is presented in this paper. The MTATBOT is specially designed for long-range, space-constrained, and explosion-proof underground coal mine environments. With an onboard perception and autopilot system, the MTATBOT can perform automated and unmanned subterranean material transportation. This paper proposes an integrated odometry-based method to improve position estimation and mitigate location ambiguities for simultaneous localization and mapping (SLAM) in large-scale, GNSS-denied, and perceptually degraded subterranean transport roadway scenarios. Additionally, this paper analyzes the robot dynamic model and presents a nonlinear control strategy for the robot to autonomously track a planned trajectory based on the path-following error dynamic model. Finally, the proposed algorithm and control strategy are tested and validated both in a virtual transport roadway environment and in an active underground coal mine. The test results indicate that the proposed algorithm can obtain more accurate and robust robot odometry and better large-scale underground roadway mapping results compared with other SLAM solutions. |
| format | Article |
| id | doaj-art-fa776f7d2d2a48adae17a7ef4dd4b60f |
| institution | Kabale University |
| issn | 1424-8220 |
| language | English |
| publishDate | 2024-12-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Sensors |
| spelling | doaj-art-fa776f7d2d2a48adae17a7ef4dd4b60f2024-12-27T14:52:29ZengMDPI AGSensors1424-82202024-12-012424793510.3390/s24247935Research on Downhole MTATBOT Positioning and Autonomous Driving Strategies Based on Odometer-Assisted Inertial MeasurementMingrui Hao0Xiaoming Yuan1Jie Ren2Yueqi Bi3Xiaodong Ji4Sihai Zhao5Miao Wu6Yang Shen7Campus School of Mechanical and Electrical Engineering, China University of Mining and Technology Beijing, Beijing 100083, ChinaChina Coal Technology & Engineering Group Taiyuan Research Institute Co., Ltd., Taiyuan 030006, ChinaDepartment of Mechanical Engineering, Taiyuan Institute of Technology, Taiyuan 030008, ChinaChina Coal Technology & Engineering Group Taiyuan Research Institute Co., Ltd., Taiyuan 030006, ChinaState Key Laboratory of Mechanical Behavior and System Safety of Traffic Engineering Structures, Shijiazhuang Tiedao University, Shijiazhuang 050031, ChinaCampus School of Mechanical and Electrical Engineering, China University of Mining and Technology Beijing, Beijing 100083, ChinaCampus School of Mechanical and Electrical Engineering, China University of Mining and Technology Beijing, Beijing 100083, ChinaSchool of Vehicle and Transportation Engineering, Tsinghua University, Beijing 100083, ChinaIn response to the current situation of backward automation levels, heavy labor intensities, and high accident rates in the underground coal mine auxiliary transportation system, the mining trackless auxiliary transportation robot (MTATBOT) is presented in this paper. The MTATBOT is specially designed for long-range, space-constrained, and explosion-proof underground coal mine environments. With an onboard perception and autopilot system, the MTATBOT can perform automated and unmanned subterranean material transportation. This paper proposes an integrated odometry-based method to improve position estimation and mitigate location ambiguities for simultaneous localization and mapping (SLAM) in large-scale, GNSS-denied, and perceptually degraded subterranean transport roadway scenarios. Additionally, this paper analyzes the robot dynamic model and presents a nonlinear control strategy for the robot to autonomously track a planned trajectory based on the path-following error dynamic model. Finally, the proposed algorithm and control strategy are tested and validated both in a virtual transport roadway environment and in an active underground coal mine. The test results indicate that the proposed algorithm can obtain more accurate and robust robot odometry and better large-scale underground roadway mapping results compared with other SLAM solutions.https://www.mdpi.com/1424-8220/24/24/7935underground coal mineauxiliary transportationMTATBOTSLAMexplosion-proofautonomous driving |
| spellingShingle | Mingrui Hao Xiaoming Yuan Jie Ren Yueqi Bi Xiaodong Ji Sihai Zhao Miao Wu Yang Shen Research on Downhole MTATBOT Positioning and Autonomous Driving Strategies Based on Odometer-Assisted Inertial Measurement Sensors underground coal mine auxiliary transportation MTATBOT SLAM explosion-proof autonomous driving |
| title | Research on Downhole MTATBOT Positioning and Autonomous Driving Strategies Based on Odometer-Assisted Inertial Measurement |
| title_full | Research on Downhole MTATBOT Positioning and Autonomous Driving Strategies Based on Odometer-Assisted Inertial Measurement |
| title_fullStr | Research on Downhole MTATBOT Positioning and Autonomous Driving Strategies Based on Odometer-Assisted Inertial Measurement |
| title_full_unstemmed | Research on Downhole MTATBOT Positioning and Autonomous Driving Strategies Based on Odometer-Assisted Inertial Measurement |
| title_short | Research on Downhole MTATBOT Positioning and Autonomous Driving Strategies Based on Odometer-Assisted Inertial Measurement |
| title_sort | research on downhole mtatbot positioning and autonomous driving strategies based on odometer assisted inertial measurement |
| topic | underground coal mine auxiliary transportation MTATBOT SLAM explosion-proof autonomous driving |
| url | https://www.mdpi.com/1424-8220/24/24/7935 |
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