Robust Localization for Underground Mining Vehicles: An Application in a Room and Pillar Mine

Most autonomous navigation systems used in underground mining vehicles such as load–haul–dump (LHD) and trucks use 2D light detection ranging (LIDAR) sensors representations/maps of the environment. In this article, we propose 3D LIDARs existing simultaneous localization mapping (SLAM) jointly with methods to produce or update grid maps tunnels that may have significant elevation changes. Existing only are shown fail accurate These can be for robust different mine types (e.g., sublevel stoping, block/panel caving, room pillar), using LIDAR sensors. The proposed methodology was tested Werra Potash Mine located at Philippsthal, Germany, under real operational conditions. obtained results show enhanced map-building method produces a superior performance compared map generated without LIDAR-based solution. enables localization, which during operation an LHD, performing loading over extended periods time.