Hybrid UGV and Drone System for Mine Rescue Assistance

Abstract

The purpose of this study is to present aspects of the development of a semi-autonomous multi-agent hybrid system intended to assist reconnaissance in underground mines. The hybrid system aims to expedite search and rescue operations in the event of mining disasters. The robots will be tasked with collecting environmental data, such as temperature and air quality, and relay to the mine rescue team. Additionally, the vehicle will be programmed to locate and evacuate trapped miners with intelligent navigation procedures. The hybrid vehicle consists of an unmanned ground vehicle (UGV) that houses a drone in a dust-proof box with an automatic opening hatch. The flying drone will navigate and map terrain inaccessible to the UCV, and return to the UGV with the data gathered. At the same time, the UGV will smartly deploy wireless communication nodes to form a temporary wireless mesh network between the mine rescue team and the hybrid system. Backscatter communication technology will enable battery-free communication between the flying drone and the trapped miners. The UGV will be equipped to navigate and map a featureless and GPS-denied environment. It will utilize LIDAR and depth cameras to obtain situational awareness and safely navigate around the underground mine.