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Research on Two-Round Self-Balancing Robot SLAM Based on the Gmapping Algorithm.

Jianwei Zhao1, Jinyu Li1, Jiaxin Zhou1

  • 1School of Mechanical Electronic & Information Engineering, China University of Mining and Technology, Beijing 100083, China.

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Summary
This summary is machine-generated.

This study introduces a two-wheel self-balancing robot for inspecting coal mine pump rooms. The robot utilizes laser simultaneous localization and mapping (SLAM) for navigation and mapping in complex environments.

Keywords:
Gmapping algorithmPID controllerSLAMtwo-wheel self-balancing robot

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Area of Science:

  • Robotics and Automation
  • Mine Safety Engineering
  • Sensor Fusion

Background:

  • Coal mine pump rooms present inspection challenges due to narrow and complex environments.
  • Current monitoring methods are often inconvenient and labor-intensive.

Purpose of the Study:

  • To design and develop a two-wheel self-balancing robot for autonomous inspection of coal mine pump room equipment.
  • To enhance safety and efficiency in mine monitoring operations.

Main Methods:

  • Designed a three-dimensional mechanical structure using SolidWorks and performed finite element analysis.
  • Established a kinematics model and implemented a multi-closed-loop PID controller for self-balancing.
  • Utilized a 2D LiDAR with the Gmapping algorithm for robot localization and map construction.

Main Results:

  • The self-balancing algorithm demonstrated good robustness and anti-jamming capabilities through dedicated tests.
  • Simulation experiments in Gazebo confirmed the critical role of particle number selection in improving map accuracy.
  • Actual field tests validated the high accuracy of the constructed maps.

Conclusions:

  • The proposed two-wheel self-balancing robot effectively addresses the challenges of inspecting confined spaces in coal mines.
  • Laser SLAM technology enables accurate mapping and localization for autonomous operation.
  • The developed system offers a robust and efficient solution for improving mine safety and operational monitoring.