A novel mathematical model and original numerical method for investigating the two-dimensional waves of heterogeneous combustion in porous media are proposed and described in detail. The mathematical model is constructed within the framework of the model of interacting interpenetrating continua and includes equations of state, continuity, momentum conservation and energy for solid and gas phases. Combustion, considered in the paper, is due to the exothermic reaction between fuel in the porous solid medium and oxidiser contained in the gas flowing through the porous object. The original numerical method is based on a combination of explicit and implicit finite-difference schemes. A distinctive feature of the proposed model is that the gas velocity at the open boundaries (inlet and outlet) of the porous object is unknown and has to be found from the solution of the problem, i.e. the flow rate of the gas regulates itself. This approach allows processes to be modelled not only under forced filtration, but also under free convection, when there is no forced gas input in porous objects, which is typical for many natural or anthropogenic disasters (burning of peatlands, coal dumps, landfills, grain elevators). Some two-dimensional time-dependent problems of heterogeneous combustion in porous objects have been solved using the proposed numerical method. It is shown that two-dimensional waves of heterogeneous combustion in porous media can propagate in two modes with different characteristics, as in the case of one-dimensional combustion, but the combustion front can move in a complex manner, and gas dynamics within the porous objects can be complicated. When natural convection takes place, self-sustaining combustion waves can go through the all parts of the object regardless of where an ignition zone was located, so the all combustible material in each part of the object is burned out, in contrast to forced filtration.