터널 내 갓길 쓰레기 및 주행 방해물 수거를 위한 무인 로봇 시스템 설계

Abstract

We propose an unmanned tunnel‑shoulder maintenance system in which a mobile robot fuses radar, LiDAR, and RGB/IR/3‑D vision to detect, classify, and grasp obstacles while navigating autonomously and wirelessly recharging at a docking station. Continuous communication with a control center enables multi‑robot tracking and emergency handling, eliminating lane closures and worker exposure and laying the groundwork for round‑the‑clock tunnel maintenance.