Design of Coal Mine Downhole Robot Based on SLAM Navigation
Aiming at the problems of the difficult problem of downhole precise positioning of the robot,realizing the operation of the robot and so on,a downhole robot based on SLAM algorithm navigation is designed.The robot uses lidar to complete terrain scanning,the host equipped with Jetson Nano receives radar data to realize the functions of mapping,positioning,path planning,obstacle avoidance and so on.The singlechip receives instructions from the host to realize the speed and turning angle control of the wheel motor,thereby completing downhole exploration,mining,transportation,rescue and other work.Through laboratory testing,it is verified that the designed downhole robot can effectively achieve functions such as navigation and obstacle avoidance.
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