An automatic robot for mine inspection and rescue based on multi-sensor fusion

Abstract

In mining environments, communication is blocked and the environment is complex, making autonomous detection of robots much more difficult. However, due to the dangerous and harsh working conditions, inspection and emergency rescue in mine is one of the key areas in which robots are urgently needed to replace manual labour. In this paper, an intelligent robot with multi-sensor system is established for daily inspection and emergency rescue tasks in complex environment in coal mine. Furthermore, in order to achieve accurate localization of robot in the environment, a multisource data fusion localization method based on improved particle filtering and VIO is developed, and experimental results show that the proposed algorithm has good performance.