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Topological exploration of subterranean environments
Author(s) -
Silver David,
Ferguson Dave,
Morris Aaron,
Thayer Scott
Publication year - 2006
Publication title -
journal of field robotics
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 1.152
H-Index - 96
eISSN - 1556-4967
pISSN - 1556-4959
DOI - 10.1002/rob.20130
Subject(s) - node (physics) , process (computing) , enhanced data rates for gsm evolution , matching (statistics) , computer science , topological map , topology (electrical circuits) , coal mining , artificial intelligence , engineering , robot , mobile robot , coal , mathematics , electrical engineering , statistics , structural engineering , waste management , operating system
The need for reliable maps of subterranean spaces too hazardous for humans to occupy has motivated the development of robotic mapping tools suited to these domains. As such, this work describes a system developed for autonomous topological exploration of mine environments to facilitate the process of mapping. The exploration framework is based upon the interaction of three main components: Node detection, node matching, and edge exploration. Node detection robustly identifies mine corridor intersections from sensor data and uses these features as the building blocks of a topological map. Node matching compares newly observed intersections to those stored in the map, providing global localization during exploration. Edge exploration translates topological exploration objectives into locomotion along mine corridors. This article describes both the robotic platform and the algorithms developed for exploration, and presents results from experiments conducted at a research coal mine near Pittsburgh, PA. © 2006 Wiley Periodicals, Inc.