Localization and Navigation of an Autonomous Robot for Underfloor Investigation

This work proposes a newly developed investigation robot operating in two modes: (1) autonomous and (2) manual mode. Designed to operate in hazardous environments such as confined, debris-filled, and dark spaces, the robot can autonomously navigate, collect critical data, and assess structural conditions. Upon completing its mission, the robot returns to its initial position, supporting the operator by improving operational efficiency and safety. The main implementation is the investigation of underfloor in Japanese houses. The robot navigates and updates its location on a predefined map. The robot recognizes possible cracks in the concrete blocks. Autonomy and remote control of the robot contribute to more efficient, timely, and safer underfloor investigation.