Evaluation tests of self-localisation and dark-sky photography of a robotic system for patrolling in closed tunnels

Abstract

Underground inspection systems in closed tunnels are expected to be replaced by mobile robots. In this study, an underground inspection robot system was developed, and field tests were conducted to evaluate the system and identify issues. In the field test, it was confirmed that automatic traveling, self-positioning, and shooting in the dark were possible. It was also found that the cause of failure in automatic traveling was a breakdown in self-localization.