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2020 Vol.30, Issue 1 Preview Page

Original Article

Field Experiment of a LiDAR Sensor-based Small Autonomous Driving Robot in an Underground Mine

라이다 센서 기반 소형 자율주행 로봇의 지하광산 현장실험

Heonmoo Kim1
,
Yosoon Choi2*
김 헌무1
,
최 요순2*
1Master's Course, Department of Energy Resources Engineering, Pukyong National University
2Professor, Department of Energy Resources Engineering, Pukyong National University
1부경대학교 환경해양대학 에너지자원공학과 석사과정
2부경대학교 환경해양대학 에너지자원공학과 교수
* Corresponding Author
29 February 2020. pp. 76-86
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Abstract

In this study, a small autonomous driving robot was developed for underground mines using the Light Detection and Ranging (LiDAR) sensor. The developed robot measures the distances to the left and right wall surfaces using the LiDAR sensor, and automatically controls its steering to drive along the centerline of mine tunnel. A field experiment was conducted in an underground amethyst mine to test the driving performance of developed robot. During five repeated driving tests, the robot showed stable driving performance overall. There were no collision accidents with the wall of mine tunnel.

Keywords
Autonomous driving robot
Underground mine
LIDAR sensor
Field experiment

본 연구에서는 라이다 센서를 활용한 지하광산용 소형 자율주행 로봇을 개발하였다. 개발된 로봇은 라이다 센서를 사용하여 좌, 우 벽면까지의 거리를 측정하고, 지하광산 갱도의 중앙선을 따라 이동하도록 조향을 자동 제어한다. 개발된 로봇의 주행성능을 테스트하기 위해 지하 자수정광산에서 현장실험 수행하였다. 5번의 반복 실험에서 로봇은 전체적으로 안정적인 주행성능을 보여주었다. 광산 갱도 벽면과의 충돌 사고도 발생하지 않았다.

키워드
자율주행 로봇
지하광산
라이다 센서
현장실험
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Information
  • Publisher :Korean Society for Rock Mechanics and Rock Engineering
  • Publisher(Ko) :한국암반공학회
  • Journal Title :Tunnel and Underground Space
  • Journal Title(Ko) :터널과 지하공간
  • Volume : 30
  • No :1
  • Pages :76-86
  • Received Date : 2020-01-07
  • Revised Date : 2020-01-22
  • Accepted Date : 2020-01-28
  • DOI :https://doi.org/10.7474/TUS.2020.30.1.076
Journal Informaiton Tunnel and Underground Space Tunnel and Underground Space
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