An integrated localization system for robots in underground environments

Purpose - The purpose of this paper is to design an integrated localization system for mobile robots in underground environments for exploring and rescuing tasks after incidents and detection of hazard gas in tunnels before ingress.Design methodology approach - An integrated localization system mainly based on a strap-down inertial measurement unit and a digital compass is designed for exploring and rescuing task in coal mines and tunnels. After a system model was founded, a filtering algorithm combining a wavelet-based pre-filter with unscented Kalman filters was developed for reckoning tracks of robots and localizing it.Findings - Based on this research, an integrated localization system for robots in underground environments can be developed to explore some regions and rescue people. Although errors of localization exist, performance of the integrated system should be improved if some sensors and landmarks or maps of tunnels are introduced.Originality value - What is proposed in this paper is an integrated localization system used in underground environments. In this research, property of environments has been taken into account as an important disturbance when filtering thresholds were set.