Experiments in Real-Time Map-Based Underground Global Positioning

The satellite-based global positioning system (GPS) has significantly changed the way site operations are carried out in surface mining. The GPS has impacted safety, productivity, fleet efficiency, and maintenance practices. However, no comparable global localization system exists for underground mines. This paper discusses recent work in the application of ideas from the mobile robotics research community to the problem of real-time vehicle positioning in underground drift networks. Related previous work recently focused on the creation of globally consistent 2D maps of underground environments that possess sufficient detail to be used for underground localization. Our current work entails the development of a GPS-like system for mobile mining equipment, with results given from both laboratory and field experiments.