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IET Cyber-Systems and Robotics
IET Cyber-Systems and Robotics  2020, Vol. 2 Issue (1): 1-13    DOI: 10.1049/iet-csr.2019.0043
    
无人地下探测、导航和定位研究综述
Jeffrey Martz1, Wesam Al-Sabban2, Ryan N. Smith1#br#
1 Physics and Engineering, Fort Lewis College, Durango, CO, USA  2 Computer and Information Systems, umm Al Qura University, Makkah, Saudi Arabia
Survey of unmanned subterranean exploration, navigation, and localisation
Jeffrey Martz1, Wesam Al-Sabban2, Ryan N. Smith1#br#
1 Physics and Engineering, Fort Lewis College, Durango, CO, USA  2 Computer and Information Systems, umm Al Qura University, Makkah, Saudi Arabia
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摘要： 地下网络包括采矿隧道、洞穴和城市地下空间。这些环境中的每一个都是复杂的环境，在勘探、开发等方面面临着巨大的挑战。同时，在这些环境中存在多种环境和结构危险，并且这些条件会随着时间的推移而退化和变化。我们在本文介绍了关于自主性、网络和移动性的研究综述，重点是探索和/或在不可预测和未探索的环境中绘制地下网络。受到作者所在地靠近博尼塔峰矿区驱动，本文重点研究了作为地下环境代表的采矿隧道。博尼塔峰矿区是一个由48个历史悠久的矿山组成的超级矿区，由于历史采矿的原因，这些矿山附近的土壤、地下水和地表水受到了重金属的污染。为矿山隧道整治工程进行勘察与评估是一个极具挑战性的地下导航课题。可以说，这里讨论的环境是最极端、最具挑战性的地下环境。无人驾驶设备必须进入隧道进行探测并重新测绘隧道，以评估机器人和/或人类随后进入隧道的安全性，以便进行适当的修复。本综述分为三大类：移动、GPS缺失下的导航和定位以及通讯。最后提出了一个平台设计方案，解决了探索废弃矿山的困难。
Abstract: Subsurface networks include mining tunnels, caves, and the urban underground. Each of these environments presents a complex setting with significant challenges in exploration, exploitation, etc. Multiple hazards exist, including environmental and structural, and conditions degrade and change temporally. We present a survey of research in autonomy, networking and mobility focused on exploring and/or mapping subsurface networks in unpredictable and unexplored environments. The focus is on mining tunnels as a proxy subterranean environment; motivated by the proximity of the authors to the Bonita Peak Mining District; a Superfund site consisting of 48 historic mines which have contaminated soil, groundwater and surface water with heavy metals as a result of historic practices. The exploration and assessment of the mining tunnels for remediation efforts presents an extremely challenging problem in subterranean navigation. Arguably, the environment in question is the most extreme and challenging subterranean environment. Unmanned assets must enter to explore and re-map the tunnels to assess safety for subsequent entrance by robots and/or humans for proper remediation. The survey is split into three categories -- Locomotion, GPS-denied navigation and localization, and Communication. It is concluded with a proposed design for a platform that addresses the difficulties of exploring an abandoned mine.
收稿日期: 2019-11-20 出版日期: 2020-04-03
通讯作者: Ryan N. Smith     E-mail: rnsmith@fortlewis.edu
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Jeffrey Martz
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引用本文:

Jeffrey Martz, Wesam Al-Sabban, Ryan N. Smith. Survey of unmanned subterranean exploration, navigation, and localisation. IET Cyber-Systems and Robotics, 2020, 2(1): 1-13.

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http://www.zjujournals.com/iet-csr/CN/10.1049/iet-csr.2019.0043    或    http://www.zjujournals.com/iet-csr/CN/Y2020/V2/I1/1

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