An Autonomous Navigation and Exploration System for Search and Rescue Robots in Mine Incidents
Noé Pérez-Higueras, Alberto Jardón, Ángel Rodríguez, Carlos Balaguer · 2019
A team of unmanned vehicles for mine incidents is being developed as part of the INDIRES project, funded by the European Research Fund for Coal and Steel (RFCS). The goal of this team is to rapidly acquire and to provide information before human rescuers can safely be deployed in serious mining accidents. In this paper, we present the navigation and exploration architecture of the robotic team consisting of a ground robot, an aerial vehicle and a teleoperated snake-like robot. This architecture has two levels: a higher level with a team manager based on a Finite State Machine, which is in charge of coordinating the action of the vehicles; and a lower level which implements the particular functionalities of each vehicle. The current status of the development and the future plans are explained.