Navigation in Underground Mine Environments: A Simulation Framework for Quadruped Robots

Quadruped robots have shown significant potential for navigating complex and hazardous environments, such as underground mines, where traditional wheeled or tracked systems have limitations. However, their development and deployment are hindered by the disparity between controlled laboratory testing and real-world conditions and the lack of tools (e.g., simulation testbeds) that expedite the required development and testing. This work develops a simulation testbed for expediting and advancing navigation algorithms, perception systems, and control strategies for quadruped robots in subterranean and hazardous environments. By utilizing high-fidelity 3D maps, ranging from intricate cave systems to real-world sites like the Edgar Mine, simulation environment offers a safe, scalable platform for evaluating robot performance in unstructured terrains. Built upon ROS 2 and the latest Gazebo simulators, the simulation framework provides robust tools for testing and development. The codebase can be accessed at https://github.com/g1y5x3/spot_gazebo. The insights gained from these simulations help bridge the gap between laboratory research and practical field deployment, enhancing the capabilities of quadruped robots for applications such as mining safety and disaster response.