Unknown environment 2-D map building system for coal mine detect robot

Coal mine is a very dangerous field because various fatal factors menace people especially when coal mine explosion happens. For the reason that rescuers have to know the mine tunnel actual situation and at the same time, it is very dangerous for rescuers to go into mine tunnel because of the unknown environment, a kind of coal mine detect robot and an unknown environment 2-D map building system are introduced. This paper introduces a coal mine detect robot which is a kind of tracked robot that is suitable for running in explosion environment. In order to solve the problem of detecting an unknown environment, we introduce a 2-D map building system based on linear template clustering algorithm via laser radar. Finally, the experiment shows that this coal mine detect robot and the 2-D map building system are reliable and practical.