Motion Planning Method for Robotics Pavement Inspection
Date Issued
2008
Date
2008
Author(s)
Gu, Kai-Yuan
Abstract
We propose novel pavement inspection motion modes for autonomous robots which are generalized into complete inspection modes and sampling inspection modes. Based on these two complementary modes, we are able to provide a robust and efficient pavement inspection algorithm.n details, complete inspection composes of (i) longitudinal mode and (ii) transversal mode. They are derived from tradition manual pavement inspection methods. Meanwhile, we have sampling inspection compose of (iii) random mode and (iv) grid mode which are derived from sampling inspection methods in the engineering. Then, we carry out data analysis from software simulation. The results show that complete inspection modes are faster than sampling inspection modes when the overall pavement is to be inspected. However, for complete inspection modes where there is a time constraint, sampling inspection modes will be able to cover more road information. he hardware platform is divided into three layers: a motion and sensing module, a control module, and a logic module. Developers can add, remove, or replace modules of all layers with compatible ones at will. The Basic Stamp II (BS-II) signal and control chip is used for the control module. For software, the packaged software Microsoft Robotics Developer Studio (MSRDS) is used to allow for re-use. MSRDS provides Concurrency and Coordination Runtime (CCR) and Decentralized System Services (DSS) for autonomous tasks. The overall hardware components are defined as services in DSS. During runtime, users execute synchronization in CCR. Therefore, the software and hardware of the robot is easy to modify or reuse for different applications. In comparison to previous works, the hardware and software platforms of this robot provide greater flexibility. The robot platform, originally purpose-built for pavement inspections, has now been generalized such that minimal modification would be required for use in different scenarios or applications - reusability of the design has become the central focus. inally, practical experiments were performed to validate the efficacy of the motion modes. The satisfactory results indicated that integrating pavement inspection research and the autonomous robot has great potential. And we are hopeful the innovative method may be a basis for future researchers in the same field.
Subjects
Autonomous robot
Automation in construction
Pavement inspection
Type
thesis
File(s)![Thumbnail Image]()
Loading...
Name
ntu-97-R95521606-1.pdf
Size
23.32 KB
Format
Adobe PDF
Checksum
(MD5):104fa66deaf7382b0b43339fb354ef5b