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Towards Autonomous Surveying of Underground Mine using MAVs geogeo
Luleå University of Technology, Department of Computer Science, Electrical and Space Engineering, Signals and Systems.
Luleå University of Technology, Department of Computer Science, Electrical and Space Engineering, Signals and Systems.ORCID iD: 0000-0001-7631-002x
Luleå University of Technology, Department of Computer Science, Electrical and Space Engineering, Signals and Systems.ORCID iD: 0000-0001-9701-4203
Luleå University of Technology, Department of Computer Science, Electrical and Space Engineering, Signals and Systems.ORCID iD: 0000-0003-0126-1897
2018 (English)Conference paper, Oral presentation with published abstract (Refereed)
Abstract [en]

Micro Aerial Vehicles (MAVs) are platforms that received great attention during the last decade. Recently, the mining industry has been considering the usage of aerial autonomous platforms in their processes. This article initially investigates potential application scenarios for this technology in mining. Moreover, one of the main tasks refer to surveillance and maintenance of infrastructure assets. Employing these robots for underground surveillance processes of areas like shafts, tunnels or large voids after blasting, requires among others the development of elaborate navigation modules. This paper proposes a method to assist the navigation capabilities of MAVs in challenging mine environments, like tunnels and vertical shafts. The proposed method considers the use of Potential Fields method, tailored to implement a sense-and-avoid system using a minimal ultrasound-based sensory system. Simulation results demonstrate the effectiveness of the proposed strategy.

Place, publisher, year, edition, pages
2018.
Keywords [en]
MAV, Underground Mines, Navigation
National Category
Engineering and Technology Control Engineering
Research subject
Control Engineering; Control Engineering
Identifiers
URN: urn:nbn:se:ltu:diva-70113OAI: oai:DiVA.org:ltu-70113DiVA, id: diva2:1232631
Conference
27th International Conference on Robotics in Alpe-Adria-Danube Region, Patras, Greece, June 6-8, 2018
Available from: 2018-07-12 Created: 2018-07-12 Last updated: 2018-08-13Bibliographically approved

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Authority records BETA

Kanellakis, ChristoforosMansouri, Sina SharifGeorgoulas, GeorgeNikolakopoulos, George

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CiteExportLink to record
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Citation style
  • apa
  • harvard1
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
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