SLAM Application of Inspection Robot for Coal Mine Comprehensive Mining Face
ZHOU Lühan
GUAN Shiyuan
GAO Haiyue
Abstract：With the development of industrialization,inspection robots for fully mechanized coal mining faces play an important role in improving work efficiency,ensuring safety,and reducing labor costs.Meanwhile,laser SLAM technology,as a key technology for robots to achieve autonomous positioning and mapping,has also been widely applied in underground coal mine environments.The autonomous navigation inspection method was introduced based on the comprehensive mining face inspection robot,and focuses on the synchronous positioning and mapping of the inspection robot.The application of four SLAM algorithms was introduced,namely LOAM,FAST-LIO,LIO-SAM,and FAST-LIO-SAM,in coal mine underground inspection robots,and compares and analyzes their similarities and differences.Experiments were conducted on the dataset collected from the underground working face of a coal mine,and the results showed that the FAST-LIO-SLAM algorithm performed better in terms of positioning accuracy and map construction in this environment.
Keywords：inspection robotunderground coal minesimultaneous localization and mapping(SLAM)
Publication Date：2025-06-30
Online Publishing Date：2025-08-15(First online date of this platform, not the publication date of the document)
Pages：8( 27-34 )