Navegação e Mapeamento Topológico em Galerias Utilizando um Dispositivo Robótico Móvel

Abstract

A critical activity in mining industrial environments is the inspection of regions that present unsanitary working conditions for human professionals, such as caves, pipelines and dam galleries. A possible solution to this problem is the use of a robotic platform for remote inspection. This article addresses the challenge of inspecting gallery systems in dam mines using a mobile robot. The objective is to develop an efficient and reliable autonomous navigation system to explore and map these galleries. The proposed navigation system is based on the combination of state machines and vector field control, providing precise and smooth trajectory for the robot. The navigation system is designed to rely solely on a laser sensor, making it accessible and cost-effective. Additionally, the article presents a topological SLAM algorithm, which utilizes the information collected by the laser sensor and wheel odometry to construct and update a topological map of the environment. The proposed method is validated through simulations in virtual environments, demonstrating its effectiveness in autonomous navigation in dam mine galleries. The obtained results show representative mapping of the environment and reliable robot navigation, highlighting the potential of this approach for real-world applications in gallery systems.