Safety assurance challenges for autonomous drones in Underground Mining Environments

Philippa Mary Ryan; Arjun Badyal; Samual Sze; Benjamin Hardin; Hasan Bin Firoz; Paulina Barbara Wiktoria Lewinska; Victoria J. Hodge

Safety assurance challenges for autonomous drones in Underground Mining Environments

Philippa Mary Ryan, Arjun Badyal, Samual Sze, Benjamin Hardin, Hasan Bin Firoz, Paulina Barbara Wiktoria Lewinska, Victoria J. Hodge

Computer Science

Research output: Contribution to conference › Paper › peer-review

Abstract

Autonomous drones have been proposed for many industrial inspection roles including building infrastructure, nuclear plants and mining. They have the benefit of accessing hazardous locations, without exposing human operators and other personnel to physical risk. Underground mines are extremely challenging for autonomous drones as there is limited infrastructure for Simultaneous Localisation and Mapping (SLAM), for the drone to navigate. For example, there is no Global Navigation Satellite System (GNSS), poor lighting, and few distinguishing landmarks. Additionally, the physical environment is extremely harsh, affecting the reliability of the drone. This paper describes the impact of these challenges in designing for, and assuring, safety. We illustrate with experience from developing an autonomous Return To Home (RTH) function for an inspection drone. This is initiated when the drone suffers a communications loss whilst surveying newly excavated corridors that are unsafe for personnel. We present some of the key safety assurance challenges we faced, including design constraints and difficulties using simulations for validation and verification.

Original language	English
Publication status	Published - Aug 2024
Event	25th Towards Autonomous Robotic Systems Conference - Duration: 21 Aug 2024 → 23 Aug 2024

Conference

Conference	25th Towards Autonomous Robotic Systems Conference
Abbreviated title	TAROS
Period	21/08/24 → 23/08/24

Cite this

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title = "Safety assurance challenges for autonomous drones in Underground Mining Environments",

abstract = "Autonomous drones have been proposed for many industrial inspection roles including building infrastructure, nuclear plants and mining. They have the benefit of accessing hazardous locations, without exposing human operators and other personnel to physical risk. Underground mines are extremely challenging for autonomous drones as there is limited infrastructure for Simultaneous Localisation and Mapping (SLAM), for the drone to navigate. For example, there is no Global Navigation Satellite System (GNSS), poor lighting, and few distinguishing landmarks. Additionally, the physical environment is extremely harsh, affecting the reliability of the drone. This paper describes the impact of these challenges in designing for, and assuring, safety. We illustrate with experience from developing an autonomous Return To Home (RTH) function for an inspection drone. This is initiated when the drone suffers a communications loss whilst surveying newly excavated corridors that are unsafe for personnel. We present some of the key safety assurance challenges we faced, including design constraints and difficulties using simulations for validation and verification.",

author = "Ryan, {Philippa Mary} and Arjun Badyal and Samual Sze and Benjamin Hardin and {Bin Firoz}, Hasan and Lewinska, {Paulina Barbara Wiktoria} and Hodge, {Victoria J.}",

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language = "English",

note = "25th Towards Autonomous Robotic Systems Conference, TAROS ; Conference date: 21-08-2024 Through 23-08-2024",

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TY - CONF

T1 - Safety assurance challenges for autonomous drones in Underground Mining Environments

AU - Ryan, Philippa Mary

AU - Badyal, Arjun

AU - Sze, Samual

AU - Hardin, Benjamin

AU - Bin Firoz, Hasan

AU - Lewinska, Paulina Barbara Wiktoria

AU - Hodge, Victoria J.

PY - 2024/8

Y1 - 2024/8

N2 - Autonomous drones have been proposed for many industrial inspection roles including building infrastructure, nuclear plants and mining. They have the benefit of accessing hazardous locations, without exposing human operators and other personnel to physical risk. Underground mines are extremely challenging for autonomous drones as there is limited infrastructure for Simultaneous Localisation and Mapping (SLAM), for the drone to navigate. For example, there is no Global Navigation Satellite System (GNSS), poor lighting, and few distinguishing landmarks. Additionally, the physical environment is extremely harsh, affecting the reliability of the drone. This paper describes the impact of these challenges in designing for, and assuring, safety. We illustrate with experience from developing an autonomous Return To Home (RTH) function for an inspection drone. This is initiated when the drone suffers a communications loss whilst surveying newly excavated corridors that are unsafe for personnel. We present some of the key safety assurance challenges we faced, including design constraints and difficulties using simulations for validation and verification.

AB - Autonomous drones have been proposed for many industrial inspection roles including building infrastructure, nuclear plants and mining. They have the benefit of accessing hazardous locations, without exposing human operators and other personnel to physical risk. Underground mines are extremely challenging for autonomous drones as there is limited infrastructure for Simultaneous Localisation and Mapping (SLAM), for the drone to navigate. For example, there is no Global Navigation Satellite System (GNSS), poor lighting, and few distinguishing landmarks. Additionally, the physical environment is extremely harsh, affecting the reliability of the drone. This paper describes the impact of these challenges in designing for, and assuring, safety. We illustrate with experience from developing an autonomous Return To Home (RTH) function for an inspection drone. This is initiated when the drone suffers a communications loss whilst surveying newly excavated corridors that are unsafe for personnel. We present some of the key safety assurance challenges we faced, including design constraints and difficulties using simulations for validation and verification.

M3 - Paper

T2 - 25th Towards Autonomous Robotic Systems Conference

Y2 - 21 August 2024 through 23 August 2024

ER -