BADGER (RoBot for Autonomous UnDerGround Trenchless OpERations, Mapping and Navigation) is a three-year Horizon 2020 project that aims to design and develop an integrated underground robotic system for autonomous construction of subterranean small-diameter and curved tunnel networks in urban environments.
During the first year of the project, the robot system specifications, tunnelling specification and system architecture have been defined. BADGER robot will be form by four modules, each of them composed of different subsystems like drilling head, propulsion and steering mechanism, wall support unit, clamping system, etc. At the moment, the design of these subsystems have been achieved and most of them are in early fabrication stage of the first prototypes.
The robot control system is underdevelopment with a big effort in motion planning, robot dynamic modelling, motion control, hardware control and FDIR. Currently two models exist for this, namely a simple mathematical description of BADGER and a ROS Gazebo model. Both models will develop in parallel with the hardware development, allowing the model to be as accurate as possible.
A miniature version of BADGER, named KIT, with the same functionalities than BADGER robot except the drilling, was developed to support the validation of the basic representative model is required to allow work on the motion control and FDIR
Regarding the motion of the robot, three basic motions have been designed: discrete, continuous and quasi-continuous. The aim is to have continuous motion, but all three motions can be achieved with the design decisions taken.
In addition to this, a decision has been taken to use PLC’s instead of custom embedded control within BADGER. The selection of off-the-shelf components means that BADGER hardware can be tested and developed more quickly.
The first version of the BADGER methods for Ground Penetrating Radar data processing have been developed, including a series of preparatory activities for the development of surface rover module of BADGER.
Alongside, It has been establish a preliminary approach for the mapping and navigation of the surface rover above the underground robot’s operational environment. Also it has started the design of the underground robot localization framework, and the research and development of the framework’s components has been initiated.
BADGER robot’s functionality validation plan is starting in January 2018. Tests will be carried out on component-, subsystem- and system- level. For the sub-systems mechanical drilling, ultrasonic equipment and transport of soil some basic tests had to be done in advance.
The latest news and project’s dissemination activities are published in the project website (www.badger-robotics.eu) developed early in the project. An exploitation committee has been created and is under development to maximize the interest and exploitation group of BADGER project.
