Journal articles: 'Underground navigation'

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Li, Ningbo, Yanbin Gao, Ye Wang, Zhejun Liu, Lianwu Guan, and Xin Liu. "A Low-Cost Underground Garage Navigation Switching Algorithm Based on Kalman Filtering." Sensors 19, no. 8 (April 18, 2019): 1861. http://dx.doi.org/10.3390/s19081861.

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Modern parking lots have gradually developed into underground garages to improve the efficient use of space. However, the complex design of parking lots also increases the demands on vehicle navigation. The traditional method of navigation switching only uses satellite signals. After the Position Dilution Of Precision (PDOP) of satellite signals is over the limit, vehicle navigation will enter indoor mode. It is not suitable for vehicles in underground garages to switch modes with a fast-response system. Therefore, this paper chooses satellite navigation, inertial navigation, and the car system to combine navigation. With the condition that the vehicle can freely travel through indoor and outdoor environments, high-precision outdoor environment navigation is used to provide the initial state of underground navigation. The position of the vehicle underground is calculated by the Dead Reckoning (DR) navigation system. This paper takes advantage of the Extended Kalman Filter (EKF) algorithm to provide two freely switchable navigation modes for vehicles in ground and underground garages. The continuity, robustness, fast response, and low cost of the indoor and outdoor switching navigation methods are verified in real-time systems.

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Li, Ningbo, Lianwu Guan, Yanbin Gao, Zhejun Liu, Ye Wang, and Hanxiao Rong. "A Low Cost Civil Vehicular Seamless Navigation Technology Based on Enhanced RISS/GPS between the Outdoors and an Underground Garage." Electronics 9, no. 1 (January 8, 2020): 120. http://dx.doi.org/10.3390/electronics9010120.

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Vehicles have to rely on satellite navigation in an open environment. However, satellite navigation cannot obtain accurate positioning information for vehicles in the interior of underground parking lots, as they comprise a semi-enclosed navigation space. Therefore, vehicular navigation needs to take into consideration both outdoor and indoor environments. Actually, outdoor navigation and indoor navigation require different positioning methods, and it is of great importance to choose a reasonable navigation and positioning algorithm solution for vehicles. Fortunately, the integrated navigation of the Global Positioning System (GPS) and the Micro-Electro-Mechanical System (MEMS) inertial navigation system could solve the problem of switching navigation algorithms in the entrance and exit of underground parking lots. This paper proposes a low cost vehicular seamless navigation technology based on the reduced inertial sensor system (RISS)/GPS between the outdoors and an underground garage. Specifically, the enhanced RISS is a positioning algorithm based on three inertial sensors and one odometer, which could achieve a similar location effect as the full model integrated navigation, reduce the costs greatly, and improve the efficiency of each sensor.

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Nasibullina, T. V., and O. Yu Lukashov. "UNDERGROUND MINE NAVIGATION SOLUTIONS FOR EMERGENCY." Ugol', no. 04 (April 8, 2020): 29–32. http://dx.doi.org/10.18796/0041-5790-2020-4-29-32.

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Bissiri, Y., G. Baiden, S. Filion, and A. Saari. "Automated surveying device for underground navigation." Mining Technology 117, no. 2 (June 2008): 71–82. http://dx.doi.org/10.1179/174328608x362640.

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Li, L., Q. Huang, K. Xu, G. Guo, and R. Chen. "VEHICLE POSITIONING IN UNDERGROUND SPACE USING A SMART PHONE." International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences XLVI-3/W1-2022 (April 22, 2022): 81–87. http://dx.doi.org/10.5194/isprs-archives-xlvi-3-w1-2022-81-2022.

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Abstract. Smartphones is a good choice for vehicle navigation since many navigation sensors are built-in with low cost advantage. However, it cannot provide reliable positioning information in underground space since GNSS is not available and IMU drift quickly. In this manuscript, a mixed navigation scheme for smartphone consumer is presented. It combines GNSS, INS, Non-Holonomic Constraint (NHC) and Bluetooth Low Energy (BLE) to provide reliable seamless navigation in both outdoors and underground. Some important problems including smartphone boresight misalignment, HNC level arm, GNSS and BLE time lag are discussed in the manuscript. The testing results show 3.1% /D horizontal positioning error in tunnel in INS/NHC positioning mode, and approximately 1 meter accuracy in underground parking garage in INS/NHC/BLE mode.

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Moussa, Mohamed, Shady Zahran, Mostafa Mostafa, Adel Moussa, Naser El-Sheimy, and Mohamed Elhabiby. "Optical and Mass Flow Sensors for Aiding Vehicle Navigation in GNSS Denied Environment." Sensors 20, no. 22 (November 17, 2020): 6567. http://dx.doi.org/10.3390/s20226567.

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Nowadays, autonomous vehicles have achieved a lot of research interest regarding the navigation, the surrounding environmental perception, and control. Global Navigation Satellite System/Inertial Navigation System (GNSS/INS) is one of the significant components of any vehicle navigation system. However, GNSS has limitations in some operating scenarios such as urban regions and indoor environments where the GNSS signal suffers from multipath or outage. On the other hand, INS standalone navigation solution degrades over time due to the INS errors. Therefore, a modern vehicle navigation system depends on integration between different sensors to aid INS for mitigating its drift during GNSS signal outage. However, there are some challenges for the aiding sensors related to their high price, high computational costs, and environmental and weather effects. This paper proposes an integrated aiding navigation system for vehicles in an indoor environment (e.g., underground parking). This proposed system is based on optical flow and multiple mass flow sensors integrations to aid the low-cost INS by providing the navigation extended Kalman filter (EKF) with forward velocity and change of heading updates to enhance the vehicle navigation. The optical flow is computed for frames taken using a consumer portable device (CPD) camera mounted in the upward-looking direction to avoid moving objects in front of the camera and to exploit the typical features of the underground parking or tunnels such as ducts and pipes. On the other hand, the multiple mass flow sensors measurements are modeled to provide forward velocity information. Moreover, a mass flow differential odometry is proposed where the vehicle change of heading is estimated from the multiple mass flow sensors measurements. This integrated aiding system can be used for unmanned aerial vehicles (UAV) and land vehicle navigations. However, the experimental results are implemented for land vehicles through the integration of CPD with mass flow sensors to aid the navigation system.

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Jiang, Yuanjian, Pingan Peng, Liguan Wang, Jiaheng Wang, Jiaxi Wu, and Yongchun Liu. "LiDAR-Based Local Path Planning Method for Reactive Navigation in Underground Mines." Remote Sensing 15, no. 2 (January 4, 2023): 309. http://dx.doi.org/10.3390/rs15020309.

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Reactive navigation is the most researched navigation technique for underground vehicles. Local path planning is one of the main research difficulties in reactive navigation. At present, no technique can perfectly solve the problem of local path planning for the reactive navigation of underground vehicles. Aiming to address this problem, this paper proposes a new method for local path planning based on 2D LiDAR. First, we convert the LiDAR data into a binary image, and we then extract the skeleton of the binary image through a thinning algorithm. Finally, we extract the centerline of the current laneway from these skeletons and smooth the obtained roadway centerline as the current planned local path. Experiments show that the proposed method has high robustness and good performance. Additionally, the method can also be used for the global path planning of underground maps.

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MADHAVAN, R., G. DISSANAYAKE, H. DURRANT-WHYTE, J. ROBERTS, P. CORKE, and J. CUNNINGHAM. "ISSUES IN AUTONOMOUS NAVIGATION OF UNDERGROUND VEHICLES." Mineral Resources Engineering 08, no. 03 (September 1999): 313–24. http://dx.doi.org/10.1142/s095060989900030x.

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Liu, Huiyun, Yongqiang Li, Baoshan Wang, and Zengzhang Guo. "Research on Mapping Error Control of Underground Space Mobile LiDAR Constrained by Cooperative Targets." Journal of Sensors 2022 (October 10, 2022): 1–12. http://dx.doi.org/10.1155/2022/8690532.

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In the underground environment, it is difficult to obtain spatial three-dimensional data because of occlusion and its complexity. Mobile light detection and ranging (LiDAR) measurement technology has the ability to obtain three-dimensional spatial information quickly and accurately, but in the underground environment, because of the lack of global navigation satellite system (GNSS) signal in the integrated navigation system, the measurement accuracy decreases with the increase of time. In this paper, an extended Kalman filter-based loose mode is constructed using the real coordinates of the center of gravity of the target and the measurement information of the laser foothold. It provides an additional space-time reference for the integrated navigation system of the mobile LiDAR system and restricts the errors. The simulation results show that the proposed method can effectively improve the measurement accuracy of mobile LiDAR system and enhance the 3D spatial perception ability of underground space.

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Xu, Man, Shuangfeng Wei, and Sisi Zlatanova. "AN INDOOR NAVIGATION APPROACH CONSIDERING OBSTACLES AND SPACE SUBDIVISION OF 2D PLAN." ISPRS - International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences XLI-B4 (June 13, 2016): 339–46. http://dx.doi.org/10.5194/isprs-archives-xli-b4-339-2016.

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The demand for indoor navigation is increasingly urgent in many applications such as safe management of underground spaces or location services in complex indoor environment, e.g. shopping centres, airports, museums, underground parking lot and hospitals. Indoor navigation is still a challenging research field, as currently applied indoor navigation algorithms commonly ignore important environmental and human factors and therefore do not provide precise navigation. Flexible and detailed networks representing the connectivity of spaces and considering indoor objects such as furniture are very important to a precise navigation. In this paper we concentrate on indoor navigation considering obstacles represented as polygons. We introduce a specific space subdivision based on a simplified floor plan to build the indoor navigation network. The experiments demonstrate that we are able to navigate around the obstacles using the proposed network. Considering to well-known path-finding approaches based on Medial Axis Transform (MAT) or Visibility Graph (VG), the approach in this paper provides a quick subdivision of space and routes, which are compatible with the results of VG.

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Xu, Man, Shuangfeng Wei, and Sisi Zlatanova. "AN INDOOR NAVIGATION APPROACH CONSIDERING OBSTACLES AND SPACE SUBDIVISION OF 2D PLAN." ISPRS - International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences XLI-B4 (June 13, 2016): 339–46. http://dx.doi.org/10.5194/isprsarchives-xli-b4-339-2016.

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The demand for indoor navigation is increasingly urgent in many applications such as safe management of underground spaces or location services in complex indoor environment, e.g. shopping centres, airports, museums, underground parking lot and hospitals. Indoor navigation is still a challenging research field, as currently applied indoor navigation algorithms commonly ignore important environmental and human factors and therefore do not provide precise navigation. Flexible and detailed networks representing the connectivity of spaces and considering indoor objects such as furniture are very important to a precise navigation. In this paper we concentrate on indoor navigation considering obstacles represented as polygons. We introduce a specific space subdivision based on a simplified floor plan to build the indoor navigation network. The experiments demonstrate that we are able to navigate around the obstacles using the proposed network. Considering to well-known path-finding approaches based on Medial Axis Transform (MAT) or Visibility Graph (VG), the approach in this paper provides a quick subdivision of space and routes, which are compatible with the results of VG.

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Hernández-Santos, Carlos, Ernesto Rincon, Yasser A. Davizón, Adriana Vargas-Martínez, and Alejandro R. Said. "Robotics Navigation System for Mapping Underground Hydraulic Networks." Machines 10, no. 7 (June 23, 2022): 509. http://dx.doi.org/10.3390/machines10070509.

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This paper presents the model, design, and simulation for a navigation system developed for a group of mobile robots dedicated to the production of maps for underground hydraulic infrastructure. The system can operate internally in unknown pipeline networks without GPS support, integrating Tarry’s principles of deep search, Pledge modify discrimination, and topographic orientation transfer, in the temporary construction of a reference network independent of peripheral inertial navigation. The acquisition of topographic objectives for mapping is done by laser collimation and radio frequency synchronization with an angular and longitudinal precision of sigma II range. The maps produced contain the polygonal axes of the network pipelines.

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Leung, Keith, Daniel Lühr, Hamidreza Houshiar, Felipe Inostroza, Dorit Borrmann, Martin Adams, Andreas Nüchter, and Javier Ruiz del Solar. "Chilean underground mine dataset." International Journal of Robotics Research 36, no. 1 (January 2017): 16–23. http://dx.doi.org/10.1177/0278364916679497.

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This article presents a robotic dataset collected from the largest underground copper mine in the world. The sensor measurements from a 3D scanning lidar, a 2D radar, and stereo cameras were recorded from an approximately two kilometer traverse of a production-active tunnel. The equipment used and the data collection process is discussed in detail, along with the format of the data. This dataset is suitable for research in robotic navigation, as well as simultaneous localization and mapping. The download instructions are available at the following website http://dataset.amtc.cl .

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Khakimov, Abduboki, Gullola Kutumova, and Zamira Mirzaeva. "Current trends in the development of automation surveying support in the construction of subways." E3S Web of Conferences 168 (2020): 00010. http://dx.doi.org/10.1051/e3sconf/202016800010.

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The article discusses the basic principles and conditions for the use of the latest underground navigation system. An example is given of the second new Yunusabad line of the Tashkent Subway using the shield method. For the first time in the Republic of Uzbekistan, in the construction of the Tashkent metro stations by underground, the Tunneling Mechanized Complex (TMC) was used - a movable prefabricated metal structure manufactured in Germany by the company HERRENKNECHT, which is the leading company in the world and produces machines for the construction of tunnels of any diameter in the range from 0.10 to 19 m in any engineering-geological conditions. The disadvantages and advantages of the underground navigation system are indicated; conclusions are drawn about the prospects for its application. The patterns of development of technical aspects of the automation of surveying concerning general historical trends are examined.

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Bakambu, Joseph Nsasi, and Vladimir Polotski. "Autonomous system for navigation and surveying in underground mines." Journal of Field Robotics 24, no. 10 (2007): 829–47. http://dx.doi.org/10.1002/rob.20213.

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Cartwright, William, and Kenneth Field. "Beck Exportation: London and Sydney." Proceedings of the ICA 1 (May 16, 2018): 1–5. http://dx.doi.org/10.5194/ica-proc-1-17-2018.

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Henry (Harry) Beck’s schematic map of the London Underground is the foundation for most ‘modern’ representations of metropolitan rail systems. From its introduction in the 1930s, it has been the image of the London underground rail transportation system, and, indeed, the image of London itself.<br> Following the launch of the schematic map in 1933 Londoners adopted his representation of the underground as the favoured transportation navigation tool, but also as a physical affirmation that they were citizens of a modern city, a city of electricity and the avant-garde.<br> The London Underground map, as well as being the physical image of the underground rail system, became the signature of the modern city itself. It projected order, systematic transportation and commuter convenience. The map reinforced the general belief that a modern transportation system was at the very heart of what made a city a city.<br> Building upon the success of the map, Beck, and the London Passenger Transport Board, explored how this ‘take’ on the representation of an urban transportation system might be exported to other European, and Antipodean rail networks. This paper provides a dialogue on how Beck’s concept for the ‘metromap’ was offered as an alternative navigational diagram to the, then new, Sydney underground system. It then outlines the results of an investigation about how this ‘Exportation’ of Beck’s design resulted in the 1939 Sydney metromap that was a clone of the London Underground map.

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Zhang, Yong Quan, Gui Ying Lu, and Xiao Ming Wu. "A Simplified Model of Inertial Navigation System for Underground Pipeline Track Instrument." Advanced Materials Research 542-543 (June 2012): 895–900. http://dx.doi.org/10.4028/www.scientific.net/amr.542-543.895.

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Based on the analysis of the basic principle of traditional inertial navigation technology, this paper puts forward a kind of simplified model of the track measurement which applies to underground pipeline. The model using structures of half-strap-down stable platform that composes of a single axis gyro, two accelerometers and pulse taximeter, by measuring angular velocity of pipeline azimuth, pitching angle, platform rolling angle and pipeline length, combined with self-actuated research space track, work out the mathematics model, eventually work out the space track of the underground pipeline. The experiment proves that the underground pipeline track measurement instrument which is designed based on the simplified model, can meet the accuracy requirement of the no-dig project on track measurement, and the equipment’s operation is stable and reliable.

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Yu, Hui Jun, Cai Biao Chen, Wan Wu, and Zhi Wei Zhou. "Research of Application on Robot Vision with SQI Algorithms Based on Retinex." Applied Mechanics and Materials 675-677 (October 2014): 1358–62. http://dx.doi.org/10.4028/www.scientific.net/amm.675-677.1358.

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Troubleshooting and safety monitoring in the underground mine by manual operation often have the existence of security risks, so the trend of replacing manual operation by robots increases. In robot vision navigation, image enhancement in the automatic target recognition is the most critical stage of the pretreatment when extracting the image feature and matching. As the contour enhancement effect of multiscale Retinex algorithm is very good, which plays a key role in the robot visual scene image. When underground mine mobile robot identify path in machine vision navigation, this paper proposes a application of robot vision with SQI algorithms based on Retinex, which aims at its poor real-time performance and serious affecting by light interference.

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Mascaró, Mauricio, Isao Parra-Tsunekawa, Carlos Tampier, and Javier Ruiz-del-Solar. "Topological Navigation and Localization in Tunnels—Application to Autonomous Load-Haul-Dump Vehicles Operating in Underground Mines." Applied Sciences 11, no. 14 (July 16, 2021): 6547. http://dx.doi.org/10.3390/app11146547.

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Mobile robots are no longer used exclusively in research laboratories and indoor controlled environments, but are now also used in dynamic industrial environments, including outdoor sites. Mining is one industry where robots and autonomous vehicles are increasingly used to increase the safety of the workers, as well as to augment the productivity, efficiency, and predictability of the processes. Since autonomous vehicles navigate inside tunnels in underground mines, this kind of navigation has different precision requirements than navigating in an open environment. When driving inside tunnels, it is not relevant to have accurate self-localization, but it is necessary for autonomous vehicles to be able to move safely through the tunnel and to make appropriate decisions at its intersections and access points in the tunnel. To address these needs, a topological navigation system for mining vehicles operating in tunnels is proposed and validated in this paper. This system was specially designed to be used by Load-Haul-Dump (LHD) vehicles, also known as scoop trams, operating in underground mines. In addition, a localization system, specifically designed to be used with the topological navigation system and its associated topological map, is also proposed. The proposed topological navigation and localization systems were validated using a commercial LHD during several months at a copper sub-level stoping mine located in the Coquimbo Region in the northern part of Chile. An important aspect to be addressed when working with heavy-duty machinery, such as LHDs, is the way in which automation systems are developed and tested. For this reason, the development and testing methodology, which includes the use of simulators, scale-models of LHDs, validation, and testing using a commercial LHD in test-fields, and its final validation in a mine, are described.

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Shin, Beomju, Jung Ho Lee, Changsu Yu, Chulki Kim, and Taikjin Lee. "Underground Parking Lot Navigation System Using Long-Term Evolution Signal." Sensors 21, no. 5 (March 2, 2021): 1725. http://dx.doi.org/10.3390/s21051725.

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Some of the shopping malls, airports, hospitals, etc. have underground parking lots where hundreds of vehicles can be parked. However, first-time visitors find it difficult to determine their current location and need to keep moving the vehicle to find an empty parking space. Moreover, they need to remember the parked location, and find a nearby staircase or elevator to move toward the destination. In such a situation, if the user location can be estimated, a new navigation system can be offered, which can assist users. This study presents an underground parking lot navigation system using long-term evolution (LTE) signals. As the proposed system utilizes LTE network signals for which the infrastructure is already installed, no additional infrastructure is required. To estimate the location of the vehicle, the signal strength of the LTE signal is accumulated, and the location of the vehicle is estimated by comparing it with the previously stored database of the LTE received signal strength (RSS). In addition, the acceleration and gyroscope sensors of a smartphone are used to improve the vehicle position estimation performance. The effectiveness of the proposed system is verified by conducting an experiment in a large shopping-mall underground parking lot where approximately 500 vehicles can be parked. From the results of the experiment, an error of less than an average of 10 m was obtained, which shows that seamless navigation is possible using the proposed system even in an environment where GNSS does not function.

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Scheding, S., G. Dissanayake, E. M. Nebot, and H. Durrant-Whyte. "An experiment in autonomous navigation of an underground mining vehicle." IEEE Transactions on Robotics and Automation 15, no. 1 (1999): 85–95. http://dx.doi.org/10.1109/70.744605.

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Mansouri, Sina Sharif, Christoforos Kanellakis, Dariusz Kominiak, and George Nikolakopoulos. "Deploying MAVs for autonomous navigation in dark underground mine environments." Robotics and Autonomous Systems 126 (April 2020): 103472. http://dx.doi.org/10.1016/j.robot.2020.103472.

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Tian, Zijian, Liya Zhang, and Wei Chen. "Improved algorithm for navigation of rescue robots in underground mines." Computers & Electrical Engineering 39, no. 4 (May 2013): 1088–94. http://dx.doi.org/10.1016/j.compeleceng.2013.01.002.

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Roberts, Jonathan M., Elliot S. Duff, and Peter I. Corke. "Reactive navigation and opportunistic localization for autonomous underground mining vehicles." Information Sciences 145, no. 1-2 (August 2002): 127–46. http://dx.doi.org/10.1016/s0020-0255(02)00227-x.

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Riurean, Simona, Marius Olar, Andreea Ionică, and Lilla Pellegrini. "Visible Light Communication and Augmented Reality for Underground Positioning System." MATEC Web of Conferences 305 (2020): 00089. http://dx.doi.org/10.1051/matecconf/202030500089.

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Visible Light Communication (VLC) technology allows wireless data transmission piggybacked by illumination. Highly accurate and reliable systems based on VLC, as Indoor Positioning System (IPS) have been already developed by academics and specialized companies. Underground Positioning System (UPS) addressed here is embedded into the protection equipment, compulsory to be used underground, being therefore important to workers in potential dangerous spaces since fast data communication and real-time data interpretation is therefore possible. This paper presents the VLC technology implemented in mining underground specific environment for an accurate positioning and fast data communication for underground navigation with the main aim of developing a real time warning and alarming system based on Augmented Reality (AR) and Neural Networks (NNs) principles.

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Hung, R., B. A. King, and W. Chen. "A METHOD FOR THE POSITIONING AND ORIENTATION OF RAIL-BOUND VEHICLES IN GNSS-FREE ENVIRONMENTS." ISPRS Annals of Photogrammetry, Remote Sensing and Spatial Information Sciences III-1 (June 2, 2016): 135–42. http://dx.doi.org/10.5194/isprsannals-iii-1-135-2016.

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Mobile Mapping System (MMS) are increasingly applied for spatial data collection to support different fields because of their efficiencies and the levels of detail they can provide. The Position and Orientation System (POS), which is conventionally employed for locating and orienting MMS, allows direct georeferencing of spatial data in real-time. Since the performance of a POS depends on both the Inertial Navigation System (INS) and the Global Navigation Satellite System (GNSS), poor GNSS conditions, such as in long tunnels and underground, introduce the necessity for post-processing. In above-ground railways, mobile mapping technology is employed with high performance sensors for finite usage, which has considerable potential for enhancing railway safety and management in real-time. In contrast, underground railways present a challenge for a conventional POS thus alternative configurations are necessary to maintain data accuracy and alleviate the need for post-processing. This paper introduces a method of rail-bound navigation to replace the role of GNSS for railway applications. The proposed method integrates INS and track alignment data for environment-independent navigation and reduces the demand of post-processing. The principle of rail-bound navigation is presented and its performance is verified by an experiment using a consumer-grade Inertial Measurement Unit (IMU) and a small-scale railway model. The method produced a substantial improvement in position and orientation for a poorly initialised system in centimetre positional accuracy. The potential improvements indicated by, and limitations of rail-bound navigation are also considered for further development in existing railway systems.

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Hung, R., B. A. King, and W. Chen. "A METHOD FOR THE POSITIONING AND ORIENTATION OF RAIL-BOUND VEHICLES IN GNSS-FREE ENVIRONMENTS." ISPRS Annals of Photogrammetry, Remote Sensing and Spatial Information Sciences III-1 (June 2, 2016): 135–42. http://dx.doi.org/10.5194/isprs-annals-iii-1-135-2016.

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Mobile Mapping System (MMS) are increasingly applied for spatial data collection to support different fields because of their efficiencies and the levels of detail they can provide. The Position and Orientation System (POS), which is conventionally employed for locating and orienting MMS, allows direct georeferencing of spatial data in real-time. Since the performance of a POS depends on both the Inertial Navigation System (INS) and the Global Navigation Satellite System (GNSS), poor GNSS conditions, such as in long tunnels and underground, introduce the necessity for post-processing. In above-ground railways, mobile mapping technology is employed with high performance sensors for finite usage, which has considerable potential for enhancing railway safety and management in real-time. In contrast, underground railways present a challenge for a conventional POS thus alternative configurations are necessary to maintain data accuracy and alleviate the need for post-processing. This paper introduces a method of rail-bound navigation to replace the role of GNSS for railway applications. The proposed method integrates INS and track alignment data for environment-independent navigation and reduces the demand of post-processing. The principle of rail-bound navigation is presented and its performance is verified by an experiment using a consumer-grade Inertial Measurement Unit (IMU) and a small-scale railway model. The method produced a substantial improvement in position and orientation for a poorly initialised system in centimetre positional accuracy. The potential improvements indicated by, and limitations of rail-bound navigation are also considered for further development in existing railway systems.

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Chen, Yuming, Wei Li, Gaifang Xin, Hai Yang, and Ting Xia. "An Improved Strong Tracking Kalman Filter Algorithm for the Initial Alignment of the Shearer." Complexity 2019 (March 18, 2019): 1–12. http://dx.doi.org/10.1155/2019/3172501.

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The strap-down inertial navigation system (SINS) is a commonly used sensor for autonomous underground navigation, which can be used for shearer positioning under a coal mine. During the process of initial alignment, inaccurate or time-varying noise covariance matrices will significantly degrade the accuracy of the initial alignment of the shearer. To overcome the performance degradation of the existing initial alignment algorithm under complex underground environment, a novel adaptive filtering algorithm is proposed by the integration of the strong tracking Kalman filter and the sequential filter for the initial alignment of the shearer with complex underground environment. Compared with the traditional multiple fading factor strong tracking Kalman filter (MSTKF) method, the proposed MSTSKF algorithm integrates the advantage of strong tracking Kalman filter and sequential filter, and multiple fading factor and forgetting factor for east and north velocity measurement are designed in the algorithm, respectively, which can effectively weaken the coupling relationship between the different states and increase strong robustness against process uncertainties. The simulation and experiment results show that the proposed MSTSKF method has better initial alignment accuracy and robustness than existing strong tracking Kalman filter algorithm.

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Li, Shuo, Tiancheng Guo, Ran Mo, Xiaoshuai Zhao, Feng Zhou, Weirong Liu, and Jun Peng. "A Rescue-Assistance Navigation Method by Using the Underground Location of WSN after Disasters." Sensors 20, no. 8 (April 11, 2020): 2173. http://dx.doi.org/10.3390/s20082173.

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A challenging rescue task for the underground disaster is to guide survivors in getting away from the dangerous area quickly. To address the issue, an escape guidance path developing method is proposed based on anisotropic underground wireless sensor networks under the condition of sparse anchor nodes. Firstly, a hybrid channel model was constructed to reflect the relationship between distance and receiving signal strength, which incorporates the underground complex communication characteristics, including the analytical ray wave guide model, the Shadowing effect, the tunnel size, and the penetration effect of obstacles. Secondly, a trustable anchor node selection algorithm with node movement detection is proposed, which solves the problem of high-precision node location in anisotropic networks with sparse anchor nodes after the disaster. Consequently, according to the node location and the obstacles, the optimal guidance path is developed by using the modified minimum spanning tree algorithm. Finally, the simulations in the 3D scene are conducted to verify the performance of the proposed method on the localization accuracy, guidance path effectiveness, and scalability.

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Yulong, Qi, Meng Qingyong, and Tian Xu. "Research on Navigation Path Planning for An Underground Load Haul Dump." Journal of Engineering Science and Technology Review 8, no. 5 (October 2015): 102–9. http://dx.doi.org/10.25103/jestr.085.14.

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YAMAMOTO, Yojiro, Toru HAGIWARA, Takeo ADACHI, Seiichi KAGAYA, and Ken-etsu UCHIDA. "A Study on Directional Navigation of Pedestrian down to the Underground." INFRASTRUCTURE PLANNING REVIEW 21 (2004): 709–15. http://dx.doi.org/10.2208/journalip.21.709.

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Wan, Jicheng, Xuhui Zhang, Chao Zhang, Wenjuan Yang, Mengyu Lei, Yuyang Du, and Zheng Dong. "Vision and Inertial Navigation Combined-Based Pose Measurement Method of Cantilever Roadheader." Sustainability 15, no. 5 (February 22, 2023): 4018. http://dx.doi.org/10.3390/su15054018.

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Pose measurement of coal mine excavation equipment is an important part of roadway excavation. However, in the underground mining roadway of coal mine, there are some influencing factors such as low illumination, high dust and interference from multiple equipment, which lead to the difficulty in the position and pose measurement of roadheader with low measurement accuracy and poor stability. A combination positioning method based on machine vision and optical fiber inertial navigation is proposed to realize the position and pose measurement of roadheader and improve the accuracy and stability of the position and pose measurement. The visual measurement model of arm roadheader is established, and the optical fiber inertial navigation technology and the spatial coordinate transformation method are used. Finally, the Kalman filter fusion algorithm is used to fuse the two kinds of data to get the accurate roadheader pose data, and the inertia is compensated and corrected. Underground coal mine experiments are designed to verify the performance of the proposed method. The results show that the positioning error of the roadheader body using this method is within 40 mm, which meets the positioning accuracy requirements of roadway construction. This method compensates for the shortcomings of low accuracy and poor reliability of single vision measurement, single inertial navigation measurement and single odometer measurement.

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Zhao, Wen Tao, and Rui Hu. "The Underground Mobile Intelligent Information Terminal System Based on WIFI." Applied Mechanics and Materials 143-144 (December 2011): 800–803. http://dx.doi.org/10.4028/www.scientific.net/amm.143-144.800.

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The implementation of WIFI technology in underground mobile intelligent information terminal system(UMIITS) was studied in this paper. Because of using Mine Information Service Center as the core and handheld intelligent terminal as the platform, this system can realize the query and feedback of the mine production and safety information. Miner's position and navigation, the level of production informatization would be improved with it.

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Xue, Guanghui, Ruixue Li, Shuang Liu, and Jinbo Wei. "Research on Underground Coal Mine Map Construction Method Based on LeGO-LOAM Improved Algorithm." Energies 15, no. 17 (August 27, 2022): 6256. http://dx.doi.org/10.3390/en15176256.

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The application of intelligent equipment and technologies such as robots and unmanned vehicles is an important part of the construction of intelligent mines, and has become China’s national coal energy development strategy and the consensus of the coal industry. Environment perception and instant positioning is one of the key technologies destined to realize unmanned and autonomous navigation in underground coal mines, and simultaneous location and mapping (SLAM) is an effective method of deploying this key technology. The underground space of a coal mine is long and narrow, the environment is complex and changeable, the structure is complex and irregular, and the lighting is poor. This is a typical unstructured environment, which poses a great challenge to SLAM. This paper summarizes the current research status of underground coal mine map construction based on visual SLAM and Lidar SLAM, and analyzes the defects of the LeGO-LOAM algorithm, such as loopback detection errors or omissions. We use SegMatch to improve the loopback detection module of LeGO-LOAM, use the iterative closest point (ICP) algorithm to optimize the global map, then propose an improved SLAM algorithm, namely LeGO-LOAM-SM, and describe its principle and implementation. The performance of the LeGO-LOAM-SM was also tested using the KITTI dataset 00 sequence and SLAM experimental data collected in two coal mine underground simulation scenarios, and the performance indexes such as the map construction effect, trajectory overlap and length deviation, absolute trajectory error (ATE), and relative pose error (RPE) were analyzed. The results show that the map constructed by LeGO-LOAM-SM is clearer, has a better loopback effect, the estimated trajectory is smoother and more accurate, and the translation and rotation accuracy is improved by approximately 5%. This can construct more accurate point cloud map and low drift position estimation, which verifies the effectiveness and accuracy of the improved algorithm. Finally, to satisfy the navigation requirements, the construction method of a two-dimensional occupancy grid map was studied, and the underground coal mine simulation environment test was carried out. The results show that the constructed raster map can effectively filter out outlier noise such as dynamic obstacles, has a mapping accuracy of 0.01 m, and the required storage space compared with the point cloud map is reduced by three orders of magnitude. The research results enrich the SLAM algorithm and implementation in unstructured environments such as underground coal mines, and help to solve the problems of environment perception, real-time positioning, and the navigation of coal mine robots and unmanned vehicles.

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Dong, Chun Hua, Jian Ping Hu, and Li Wang. "Application of a Virtual Geosciences Modeling System in Digital City Construction." Applied Mechanics and Materials 20-23 (January 2010): 1311–14. http://dx.doi.org/10.4028/www.scientific.net/amm.20-23.1311.

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This document puts forward a new method for solving the modeling of overground and underground entities and spatial analysis provided by the virtual reality technology (VR). The new method can construct virtual urban geological environment, realize the integrated modeling of overground and underground entities, and research the interactive functions such as 2D-digital map navigation and spatial query in the virtual environment, which provides the decision making platform of three-dimension visualization for urban planning, urban construction and urban management, and is a good foundation for construction of “the management and service systems for urban geological information”.

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Baek, Jieun, Yosoon Choi, Chaeyoung Lee, Jangwon Suh, and Sangho Lee. "BBUNS: Bluetooth Beacon-Based Underground Navigation System to Support Mine Haulage Operations." Minerals 7, no. 11 (November 21, 2017): 228. http://dx.doi.org/10.3390/min7110228.

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Dąbrowski, Witold, and Stanisław Popowski. "Methods of errors limitation of navigation for directional drilling and underground pipelines." Pomiary Automatyka Robotyka 18, no. 4 (April 15, 2014): 75–79. http://dx.doi.org/10.14313/par_206/75.

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Xu, Fuyi, Hendrik Van Brussel, Marnix Nuttin, and Ronny Moreas. "Concepts for dynamic obstacle avoidance and their extended application in underground navigation." Robotics and Autonomous Systems 42, no. 1 (January 2003): 1–15. http://dx.doi.org/10.1016/s0921-8890(02)00323-8.

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Jia, Zhiwei, Haohui Liu, Haoliang Zheng, Shaosheng Fan, and Zheng Liu. "An Intelligent Inspection Robot for Underground Cable Trenches Based on Adaptive 2D-SLAM." Machines 10, no. 11 (November 1, 2022): 1011. http://dx.doi.org/10.3390/machines10111011.

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With the rapid growth of underground cable trenches, the corresponding inspections become a heavy burden, and an intelligent inspection robot for automatic examinations in underground cable trenches would be a suitable solution. To achieve this, this paper establishes one new navigation methodology for intelligent inspection robots, especially when applied in complex scenarios and the corresponding hardware. Firstly, to map the underground trenches with higher precision, an improved graph optimization cartographer-SLAM algorithm is proposed, which is based on the combination of depth camera and LIDAR. The depth image is converted into pseudo laser data, and fused with LIDAR data for calibration. Secondly, to overcome the low precision of the Laser odometer due to the uneven ground, an adaptive keyframe selection method is designed. Thirdly, the forward A* model is presented, which has been adjusted in three aspects, including the convergence of node searching, the cost function, and the path smoothness, to adapt to the narrow underground environment for global path planning. Fourthly, to realize dynamic obstacle avoidance, an improved fusion scheme is built to integrate the proposed global path planning algorithm and the dynamic window approach (DWA). In the case study, the simulation experiments showed the advantage of the forward A* algorithm over the state-of-the-art algorithm in both time consumption and the number of inflection points generated, the field tests illustrated the effect of the fusion of depth camera images and LIDAR. Hence, the feasibility of this navigation methodology can be verified, and the average length of path and time consumption decreased by 6.5% and 17.8%, respectively, compared with the traditional methods.

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Yao, Xiao Peng, and Li Zeng. "Experiment Study of AGV Navigation Based on Multi-Sensor." Advanced Materials Research 472-475 (February 2012): 484–87. http://dx.doi.org/10.4028/www.scientific.net/amr.472-475.484.

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Automated guided vehicle (AGV) is a kind of wheeled mobile robot, which used for the internal and external transport of materials from one place to another in flexible manufacture system (FMS). AGV are also used for repeating transportation tasks in other areas, such as warehouses, container terminals and external (underground) transportation systems. The AGV navigation algorithms are classiﬁed as global or local, depending on surrounding environment. In global navigation, the environment surrounding the AGV is known and the path which avoids the obstacle is selected. In local navigation, the environment surrounding the AGV is unknown, and sensors are used to detect the obstacles and avoid collision. In the past, a number of algorithms have been designed by many researchers for robot navigation problems. Through analyzing the existing positioning methods and precision for AGV, this paper design and develop a new navigation software based on multi-sensor information fusion algorithm, it is proved through the theory analysis and experiment that the position precision of AGV is ≤±5mm, posture precision is ≤±0.3°. It can full meet the requirements of robot’s accuracy.

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Wu, Gang, Xinqiu Fang, Lei Zhang, Minfu Liang, Jiakun Lv, and Zhiqiao Quan. "Positioning Accuracy of the Shearer Based on a Strapdown Inertial Navigation System in Underground Coal Mining." Applied Sciences 10, no. 6 (March 23, 2020): 2176. http://dx.doi.org/10.3390/app10062176.

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Automation and intelligent coal mining comprise the most important fields in coal mining technology research. The key to automation and intelligent coal mining is the automated mining of the working face, and accurate positioning of the shearer is one of the most important technologies in the automated mining process. However, significant defects in non-inertial navigation system (INS)-based methods have led to low positioning accuracy. In this paper, we propose a new shearer positioning technology to further improve the positioning accuracy of the shearer and monitor the shearer position in real time. The shearer positioning system proposed is based on the strapdown inertial navigation system (SINS). We conducted shearer positioning experiments with gyroscopes, accelerometers, and other inertial navigation instruments. The experimental results are thoroughly studied on the basis of error compensation techniques such as inertial instrument zero bias compensation and Kalman filter compensation. Compared with traditional shearer positioning technology, the experimental results show that the shearer positioning system based on SINS can achieve more accurate positioning of the shearer and can accurately reflect the running characteristics of the shearer working the mining face.

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Stylianidis, E., E. Valaria, K. Smagas, A. Pagani, J. Henriques, A. Garca, E. Jimeno, et al. "LBS AUGMENTED REALITY ASSISTIVE SYSTEM FOR UTILITIES INFRASTRUCTURE MANAGEMENT THROUGH GALILEO AND EGNOS." ISPRS - International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences XLI-B1 (June 6, 2016): 1179–85. http://dx.doi.org/10.5194/isprsarchives-xli-b1-1179-2016.

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There is a continuous and increasing demand for solutions, both software and hardware-based, that are able to productively handle underground utilities geospatial data. Innovative approaches that are based on the use of the European GNSS, Galileo and EGNOS, sensor technologies and LBS, are able to monitor, document and manage utility infrastructures’ data with an intuitive 3D augmented visualisation and navigation/positioning technology. A software and hardware-based system called LARA, currently under develop- ment through a H2020 co-funded project, aims at meeting that demand. The concept of LARA is to integrate the different innovative components of existing technologies in order to design and develop an integrated navigation/positioning and information system which coordinates GNSS, AR, 3D GIS and geodatabases on a mobile platform for monitoring, documenting and managing utility infrastruc- tures on-site. The LARA system will guide utility field workers to locate the working area by helping them see beneath the ground, rendering the complexity of the 3D models of the underground grid such as water, gas and electricity. The capacity and benefits of LARA are scheduled to be tested in two case studies located in Greece and the United Kingdom with various underground utilities. The paper aspires to present the first results from this initiative. The project leading to this application has received funding from the European GNSS Agency under the European Union’s Horizon 2020 research and innovation programme under grant agreement No 641460.

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Stylianidis, E., E. Valaria, K. Smagas, A. Pagani, J. Henriques, A. Garca, E. Jimeno, et al. "LBS AUGMENTED REALITY ASSISTIVE SYSTEM FOR UTILITIES INFRASTRUCTURE MANAGEMENT THROUGH GALILEO AND EGNOS." ISPRS - International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences XLI-B1 (June 6, 2016): 1179–85. http://dx.doi.org/10.5194/isprs-archives-xli-b1-1179-2016.

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There is a continuous and increasing demand for solutions, both software and hardware-based, that are able to productively handle underground utilities geospatial data. Innovative approaches that are based on the use of the European GNSS, Galileo and EGNOS, sensor technologies and LBS, are able to monitor, document and manage utility infrastructures’ data with an intuitive 3D augmented visualisation and navigation/positioning technology. A software and hardware-based system called LARA, currently under develop- ment through a H2020 co-funded project, aims at meeting that demand. The concept of LARA is to integrate the different innovative components of existing technologies in order to design and develop an integrated navigation/positioning and information system which coordinates GNSS, AR, 3D GIS and geodatabases on a mobile platform for monitoring, documenting and managing utility infrastruc- tures on-site. The LARA system will guide utility field workers to locate the working area by helping them see beneath the ground, rendering the complexity of the 3D models of the underground grid such as water, gas and electricity. The capacity and benefits of LARA are scheduled to be tested in two case studies located in Greece and the United Kingdom with various underground utilities. The paper aspires to present the first results from this initiative. The project leading to this application has received funding from the European GNSS Agency under the European Union’s Horizon 2020 research and innovation programme under grant agreement No 641460.

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Liu, Min, Suli He, and Ruibin Liu. "Research on Vehicle Positioning Method Based on Underground Garages." E3S Web of Conferences 233 (2021): 01107. http://dx.doi.org/10.1051/e3sconf/202123301107.

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With the continuous development of urbanization, the number of vehicles has increased year by year. In order to solve the hard-to-park problem, underground garages have been built on a large scale in many cities. However, due to the fact that GPS signals are kept out in the underground garage, GPS technology does not work. As a consequence, drivers cannot use navigation equipment to search for the parking space. In view of this, vehicle positioning technique for vehicles in underground garages has hold the public attention and relevant research has been done. In this paper, we propose an efficient method of accurate vehicle positioning. First, use the low-power Bluetooth device, then use Gaussian filter to optimize the RSSI ranging algorithm, and then use the maximum likelihood method to improve the three-loop positioning algorithm. Finally, a comparison is made between the algorithm and the traditional algorithm. A large number of experiments have proved that this method can be used to determine the positions of vehicles in underground garages.

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KADDIOUI, Ahmed, Isam Shahrour, and Ahmed El Oirrak. "Uses of Augmented reality for urban utilities management." MATEC Web of Conferences 295 (2019): 02009. http://dx.doi.org/10.1051/matecconf/201929502009.

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Augmented reality (AR) is based on supplementing the view of the physical world with a computer-generated content such as text, images videos, sound, 3D objects etc. The proliferation of smart mobile devices and their high computational capabilities combined with the possibility of GIS 3D visualization and interaction have enabled new kinds of mobile applications. AR is considered as an efficient technology for the underground utilities management. Damages to underground utility lines are considered as one of the major urban problems because incidents caused by unsafe digging practices can compromise community safety and disconnect people from vital services. A prospective study was conducted to identify examples and characteristics of each type of augmented reality. This paper summarizes researches about the types of AR and discuss how this technology could help in underground utilities repairing and maintenance. We present a new mobile location based augmented reality system using smart device sensors and the Real Time Kinematic (RTK) satellite navigation technology of ORPHEON network for the location accuracy. This system enables GIS data visualization to help field workers in outdoor maintenance of underground infrastructures.

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Kruszewski, Paul. "Navigation Challenges in Massively Destructible Worlds." Proceedings of the AAAI Conference on Artificial Intelligence and Interactive Digital Entertainment 3, no. 1 (September 29, 2021): 108–9. http://dx.doi.org/10.1609/aiide.v3i1.18799.

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The creation of lifelike believable characters is emerging as the central focus of next-generation game development and is viewed as critical to obtaining true mass-market appeal. Visually-realistic movement in complex physics driven worlds is an increasingly critical component in creating believable characters. The demo is based on our extension to the Unreal 3 engine (UE3) and runs on advanced PCs, the Xbox 360 and PlayStation 3 (PS3) and shows advance navigation behaviors such as dynamic obstacle avoidance, local dynamic path finding and advanced obstacle traversal such as vaulting. A typical first-person shooter (FPS) game level (an underground subway system) is constructed out of physics-simulated objects; the benches and garbage cans can be displaced by gun fire and the pillars and railings can be destroyed by grenades. This allows the player to quickly and significantly disrupt the world making it extremely difficult for the non-player characters (NPCs) to navigate towards the player. NPCs can be given specific movement abilities so that some NPCs can avoid obstacles by circumventing them while more advanced NPCs can vault over them. Upon discovery of blocked passageways such as staircases, NPCs can take alternative routes.

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Dou, Fengqian, Yu Meng, Li Liu, and Qing Gu. "A Novel Relative Navigation Control Strategy Based on Relation Space Method for Autonomous Underground Articulated Vehicles." Journal of Control Science and Engineering 2016 (2016): 1–12. http://dx.doi.org/10.1155/2016/2352805.

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This paper proposes a novel relative navigation control strategy based on the relation space method (RSM) for articulated underground trackless vehicles. In the RSM, a self-organizing, competitive neural network is used to identify the space around the vehicle, and the spatial geometric relationships of the identified space are used to determine the vehicle’s optimal driving direction. For driving control, the trajectories of the articulated vehicles are analyzed, and data-based steering and speed control modules are developed to reduce modeling complexity. Simulation shows that the proposed RSM can choose the correct directions for articulated vehicles in different tunnels. The effectiveness and feasibility of the resulting novel relative navigation control strategy are validated through experiments.

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Li, J., B. Yang, Y. Chen, W. Wu, Y. Yang, X. Zhao, and R. Chen. "EVALUATION OF A COMPACT HELMET-BASED LASER SCANNING SYSTEM FOR ABOVEGROUND AND UNDERGROUND 3D MAPPING." International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences XLIII-B2-2022 (May 30, 2022): 215–20. http://dx.doi.org/10.5194/isprs-archives-xliii-b2-2022-215-2022.

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Abstract. As a strategic resource, urban underground space can be used for rail transportation, commercial streets, which has high economic and social benefits, and is of great significance to sustainable city development. Due to denied Global Navigation Satellite System (GNSS) signal, traditional mobile mapping systems have difficulty collecting accurate 3D point clouds in urban underground space. Thus, a helmet-based laser scanning system, named "WHU-Helmet", is integrated in this paper to make up for the shortcomings of the existing traditional mobile mapping systems. "WHU-Helmet" is mainly equipped with four types of sensors: a GNSS receiver (optional), an IMU, a laser scanner, and a global shutter camera. "WHU-Helmet" is not relying on GNSS signal and has the advantages of low cost, small volume and easy operation. Using "WHU-Helmet", a multi-scale Normal Distributions Transform (NDT) based LiDAR-IMU SLAM is implemented to collect underground 3D point cloud in real-time. To validate the performance of "WHU-Helmet" in aboveground and underground 3D mapping, experiments were conducted in a typical urban metro station. The experiments show that the average and RMSE of HLS point errors of "WHU-Helmet" are 0.44 meters and 0.23 meters, respectively, showing great potential of "WHU-Helmet" in the application of aboveground and underground 3D mapping.

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Remondino, Fabio, Alessandro Rizzi, Belen Jimenez, Giorgio Agugiaro, Giorgio Baratti, and Raffaele De Amicis. "The Etruscans in 3D: From Space to Underground." Geoinformatics FCE CTU 6 (December 21, 2011): 283–90. http://dx.doi.org/10.14311/gi.6.35.

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eomatics and Geoinformatics deal with spatial and geographic information, 3D surveying and modeling as well as information science infrastructures. Geomatics and Geoinformatics are thus involved in cartography, mapping, photogrammetry, remote sensing, laser scanning, Geographic Information Systems (GIS), Global Navigation Satellite Systems (GNSS), geo-visualisation, geospatial data analysis and Cultural Heritage documentation. In particular the Cultural Heritage field can largely benefit from different Information and Communication Technologies (ICT) tools to make digital heritage information more informative for documentation and conservation issues, archaeological analyses or virtual museums. This work presents the 3D surveying and modeling of different Etruscan heritage sites with their underground frescoed tombs dating back to VII-IV century B.C.. The recorded and processed 3D data are used, beside digital conservation, preservation, transmission to future generations and studies purposes, to create digital contents for virtual visits, museum exhibitions, better access and communication of the heritage information, etc.

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Rubio-Sierra, Carlos, Diego Domínguez, Jesús Gonzalo, and Alberto Escapa. "Path Planner for Autonomous Exploration of Underground Mines by Aerial Vehicles." Sensors 20, no. 15 (July 30, 2020): 4259. http://dx.doi.org/10.3390/s20154259.

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This paper presents a path planner solution that makes it possible to autonomously explore underground mines with aerial robots (typically multicopters). In these environments the operations may be limited by many factors like the lack of external navigation signals, the narrow passages and the absence of radio communications. The designed path planner is defined as a simple and highly computationally efficient algorithm that, only relying on a laser imaging detection and ranging (LIDAR) sensor with Simultaneous localization and mapping (SLAM) capability, permits the exploration of a set of single-level mining tunnels. It performs dynamic planning based on exploration vectors, a novel variant of the open sector method with reinforced filtering. The algorithm incorporates global awareness and obstacle avoidance modules. The first one prevents the possibility of getting trapped in a loop, whereas the second one facilitates the navigation along narrow tunnels. The performance of the proposed solution has been tested in different study cases with a Hardware-in-the-loop (HIL) simulator developed for this purpose. In all situations the path planner logic performed as expected and the used routing was optimal. Furthermore, the path efficiency, measured in terms of traveled distance and used time, was high when compared with an ideal reference case. The result is a very fast, real-time, and static memory capable algorithm, which implemented on the proposed architecture presents a feasible solution for the autonomous exploration of underground mines.

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Journal articles on the topic 'Underground navigation'

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