MINERÍA la mejor puerta de acceso al sector minero EDICIÓN 588 / SEPTIEMBRE 2026 14 Exploraciones ROBOT AUTÓNOMO PARA EXPLORACIÓN Y MUESTREO GEOLÓGICO EN MINAS SUBTERRÁNEAS CON NAVEGACIÓN SLAM, SISTEMA DE TOMA DE MUESTRAS Y CONTROL EMBEBIDO DE RETORNO AUTÓNOMO Abstrac This technical study details the comprehensive development of an autonomous robotic system designed specifically for geological exploration and sampling in underground mines. The system is engineered to operate in GPS-denied environments and under adverse environmental conditions. The proposed solution integrates SLAM-based navigation algorithms, multispectral perception (RGB + IR), articulated robotic manipulation, and an automatic return system, all built on a high-efficiency embedded architecture. Validation was conducted in four sequential phases: autonomous path planning, functional simulation in underground environments, subsystem-level
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