라이다 센서 기반의 지하광산용 소형 자율주행 로봇 개발과 실내 주행 실험
Development of a LiDAR Sensor-based Small Autonomous Driving Robot for Underground Mines and Indoor Driving Experiments
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초록
본 연구에서는 라이다 센서 기반의 지하광산용 소형 자율주행 로봇을 개발하였다. 개발된 로봇은 라이다 센서를 이용하여 좌, 우측 벽면까지의 거리를 측정하고, 그 차이에 따라 조향을 제어한다. 또한, 블루투스 비콘을 사용하여 목적지에 근접하면 별도의 제어 없이도 자동으로 정지할 수 있다. 지하광산 갱도를 모사한 실내 실험장을 조성하여개발된 로봇의 자율주행 실험을 수행하였다. 총 10회의 반복 주행 실험 결과 넓어지는 구간, 좁아지는 구간, 직선 구간에서는 안정적인 주행성능을 보여주었다. 곡선 구간에서는 주행 중 허용 주행영역을 벗어난 비율이 38.75%로 나타났으나 도로의 벽면과 충돌하는 사고는 발생하지 않았다.
Abstract
In this study, a LiDAR sensor-based small autonomous driving robot for underground mines was developed. The robot measures the distances to the left- and right-wall surfaces using the LiDAR sensor and controls its steering according to the difference. In addition, using the Bluetooth beacon, the robot can be stopped automatically without any control when it gets close to the destination. An autonomous driving test of the robot was performed by constructing an indoor test site that simulates underground mine tunnels. As a result of 10 repeated driving experiments, the robot showed stable driving performance in widening, narrowing, and straight sections. In the curve section, the rate of deviation from the acceptable driving area was 38.75%; however, there were no collisions with the wall of the road.
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