Centre for Automation and Robotics UPM-CSIC, Universidad Politécnica de Madrid, 28006 Madrid, Spain.
Sensors (Basel). 2020 Dec 17;20(24):7237. doi: 10.3390/s20247237.
In this work, we present the design, implementation, and testing of a guidance system for the UX-1 robot, a novel spherical underwater vehicle designed to explore and map flooded underground mines. For this purpose, it needs to navigate completely autonomously, as no communications are possible, in the 3D networks of tunnels of semistructured but unknown environments and gather various geoscientific data. First, the overall design concepts of the robot are presented. Then, the guidance system and its subsystems are explained. Finally, the system's validation and integration with the rest of the UX-1 robot systems are presented. A series of experimental tests following the software-in-the-loop and the hardware-in-the-loop paradigms have been carried out, designed to simulate as closely as possible navigation in mine tunnel environments. The results obtained in these tests demonstrate the effectiveness of the guidance system and its proper integration with the rest of the systems of the robot, and validate the abilities of the UX-1 platform to perform complex missions in flooded mine environments.
在这项工作中，我们展示了 UX-1 机器人的制导系统的设计、实现和测试，这是一种新型的球形水下机器人，旨在探索和绘制被淹没的地下矿山。为此，它需要完全自主导航，因为在半结构化但未知环境的隧道 3D 网络中不可能进行任何通信，并收集各种地球科学数据。首先，介绍了机器人的总体设计概念。然后，解释了制导系统及其子系统。最后，介绍了系统的验证以及与 UX-1 机器人其余系统的集成。已经进行了一系列遵循软件在环和硬件在环范例的实验测试，旨在尽可能紧密地模拟在矿山隧道环境中的导航。在这些测试中获得的结果证明了制导系统的有效性及其与机器人其余系统的适当集成，验证了 UX-1 平台在充满水的矿山环境中执行复杂任务的能力。
