Autonomous robot manipulator-based exploration and mapping system for bridge maintenance

Paul, G; Webb, S; Liu, D; Dissanayake, G

Autonomous robot manipulator-based exploration and mapping system for bridge maintenance

Paul, G

Webb, S Liu, D

Dissanayake, G

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Publication Type:: Journal Article
Citation:: Robotics and Autonomous Systems, 2011, 59 (7-8), pp. 543 - 554
Issue Date:: 2011-07-01

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Field	Value	Language
dc.contributor.author	Paul, G https://orcid.org/0000-0002-3478-0020	en_US
dc.contributor.author	Webb, S	en_US
dc.contributor.author	Liu, D https://orcid.org/0000-0002-1581-5582	en_US
dc.contributor.author	Dissanayake, G https://orcid.org/0000-0002-7992-0680	en_US
dc.date.issued	2011-07-01	en_US
dc.identifier.citation	Robotics and Autonomous Systems, 2011, 59 (7-8), pp. 543 - 554	en_US
dc.identifier.issn	0921-8890	en_US
dc.identifier.uri	http://hdl.handle.net/10453/18316
dc.description.abstract	This paper presents a system for Autonomous eXploration to Build A Map (AXBAM) of an unknown, 3D complex steel bridge structure using a 6 degree-of-freedom anthropomorphic robot manipulator instrumented with a laser range scanner. The proposed algorithm considers the trade-off between the predicted environment information gain available from a sensing viewpoint and the manipulator joint angle changes required to position a sensor at that viewpoint, and then obtains collision-free paths through safe, previously explored regions. Information gathered from multiple viewpoints is fused to achieve a detailed 3D map. Experimental results show that the AXBAM system explores and builds quality maps of complex unknown regions in a consistent and timely manner. © 2011 Elsevier B.V. All rights reserved.	en_US
dc.relation.ispartof	Robotics and Autonomous Systems	en_US
dc.relation.isbasedon	10.1016/j.robot.2011.04.001	en_US
dc.subject.classification	Industrial Engineering & Automation	en_US
dc.title	Autonomous robot manipulator-based exploration and mapping system for bridge maintenance	en_US
dc.type	Journal Article
utslib.citation.volume	7-8	en_US
utslib.citation.volume	59	en_US
utslib.for	090602 Control Systems, Robotics and Automation	en_US
utslib.for	0801 Artificial Intelligence and Image Processing	en_US
utslib.for	0906 Electrical and Electronic Engineering	en_US
utslib.for	0913 Mechanical Engineering	en_US
dc.location.activity	WOS:000291899800005	en_US
pubs.embargo.period	Not known	en_US
pubs.organisational-group	/University of Technology Sydney
pubs.organisational-group	/University of Technology Sydney/Faculty of Engineering and Information Technology
pubs.organisational-group	/University of Technology Sydney/Faculty of Engineering and Information Technology/School of Mechanical and Mechatronic Engineering
pubs.organisational-group	/University of Technology Sydney/Strength - CAS - Centre for Autonomous Systems
utslib.copyright.status	open_access
pubs.issue	7-8	en_US
pubs.publication-status	Published	en_US
pubs.volume	59	en_US

Abstract:

This paper presents a system for Autonomous eXploration to Build A Map (AXBAM) of an unknown, 3D complex steel bridge structure using a 6 degree-of-freedom anthropomorphic robot manipulator instrumented with a laser range scanner. The proposed algorithm considers the trade-off between the predicted environment information gain available from a sensing viewpoint and the manipulator joint angle changes required to position a sensor at that viewpoint, and then obtains collision-free paths through safe, previously explored regions. Information gathered from multiple viewpoints is fused to achieve a detailed 3D map. Experimental results show that the AXBAM system explores and builds quality maps of complex unknown regions in a consistent and timely manner. © 2011 Elsevier B.V. All rights reserved.

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http://hdl.handle.net/10453/18316