{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,9,2]],"date-time":"2026-09-02T15:06:39Z","timestamp":1788361599373,"version":"build-2803163510"},"reference-count":33,"publisher":"MDPI AG","issue":"24","license":[{"start":{"date-parts":[[2024,12,12]],"date-time":"2024-12-12T00:00:00Z","timestamp":1733961600000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"name":"National Science Foundation of China","award":["52474185"],"award-info":[{"award-number":["52474185"]}]},{"name":"National Science Foundation of China","award":["52474187"],"award-info":[{"award-number":["52474187"]}]},{"name":"National Science Foundation of China","award":["202303021212380"],"award-info":[{"award-number":["202303021212380"]}]},{"name":"Shanxi Province Fundamental Research Program of China","award":["52474185"],"award-info":[{"award-number":["52474185"]}]},{"name":"Shanxi Province Fundamental Research Program of China","award":["52474187"],"award-info":[{"award-number":["52474187"]}]},{"name":"Shanxi Province Fundamental Research Program of China","award":["202303021212380"],"award-info":[{"award-number":["202303021212380"]}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sensors"],"abstract":"<jats:p>In response to the current situation of backward automation levels, heavy labor intensities, and high accident rates in the underground coal mine auxiliary transportation system, the mining trackless auxiliary transportation robot (MTATBOT) is presented in this paper. The MTATBOT is specially designed for long-range, space-constrained, and explosion-proof underground coal mine environments. With an onboard perception and autopilot system, the MTATBOT can perform automated and unmanned subterranean material transportation. This paper proposes an integrated odometry-based method to improve position estimation and mitigate location ambiguities for simultaneous localization and mapping (SLAM) in large-scale, GNSS-denied, and perceptually degraded subterranean transport roadway scenarios. Additionally, this paper analyzes the robot dynamic model and presents a nonlinear control strategy for the robot to autonomously track a planned trajectory based on the path-following error dynamic model. Finally, the proposed algorithm and control strategy are tested and validated both in a virtual transport roadway environment and in an active underground coal mine. The test results indicate that the proposed algorithm can obtain more accurate and robust robot odometry and better large-scale underground roadway mapping results compared with other SLAM solutions.<\/jats:p>","DOI":"10.3390\/s24247935","type":"journal-article","created":{"date-parts":[[2024,12,12]],"date-time":"2024-12-12T04:52:49Z","timestamp":1733979169000},"page":"7935","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":4,"title":["Research on Downhole MTATBOT Positioning and Autonomous Driving Strategies Based on Odometer-Assisted Inertial Measurement"],"prefix":"10.3390","volume":"24","author":[{"ORCID":"https:\/\/orcid.org\/0009-0004-1133-8338","authenticated-orcid":false,"given":"Mingrui","family":"Hao","sequence":"first","affiliation":[{"name":"Campus School of Mechanical and Electrical Engineering, China University of Mining and Technology Beijing, Beijing 100083, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Xiaoming","family":"Yuan","sequence":"additional","affiliation":[{"name":"China Coal Technology & Engineering Group Taiyuan Research Institute Co., Ltd., Taiyuan 030006, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0009-0000-0913-0571","authenticated-orcid":false,"given":"Jie","family":"Ren","sequence":"additional","affiliation":[{"name":"Department of Mechanical Engineering, Taiyuan Institute of Technology, Taiyuan 030008, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-2725-2729","authenticated-orcid":false,"given":"Yueqi","family":"Bi","sequence":"additional","affiliation":[{"name":"China Coal Technology & Engineering Group Taiyuan Research Institute Co., Ltd., Taiyuan 030006, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-2379-3536","authenticated-orcid":false,"given":"Xiaodong","family":"Ji","sequence":"additional","affiliation":[{"name":"State Key Laboratory of Mechanical Behavior and System Safety of Traffic Engineering Structures, Shijiazhuang Tiedao University, Shijiazhuang 050031, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0009-0004-1736-1803","authenticated-orcid":false,"given":"Sihai","family":"Zhao","sequence":"additional","affiliation":[{"name":"Campus School of Mechanical and Electrical Engineering, China University of Mining and Technology Beijing, Beijing 100083, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0009-0005-0339-9082","authenticated-orcid":false,"given":"Miao","family":"Wu","sequence":"additional","affiliation":[{"name":"Campus School of Mechanical and Electrical Engineering, China University of Mining and Technology Beijing, Beijing 100083, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-9751-1699","authenticated-orcid":false,"given":"Yang","family":"Shen","sequence":"additional","affiliation":[{"name":"School of Vehicle and Transportation Engineering, Tsinghua University, Beijing 100083, China"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"1968","published-online":{"date-parts":[[2024,12,12]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","first-page":"788","DOI":"10.1016\/j.comcom.2019.12.032","article-title":"New Insights on Ground Control in Intelligent Mining with Internet of Things","volume":"150","author":"Hao","year":"2020","journal-title":"Comput. 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