Safe and efficient autonomous exploration technique for 3D mapping of a complex bridge maintenance environment

Paul, G; Liu, DK; Kirchner, N; Webb, S

Safe and efficient autonomous exploration technique for 3D mapping of a complex bridge maintenance environment

Paul, G

Liu, DK

Kirchner, N

Webb, S

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Publication Type:: Conference Proceeding
Citation:: Automation and Robotics in Construction - Proceedings of the 24th International Symposium on Automation and Robotics in Construction, 2007, pp. 99 - 104
Issue Date:: 2007-12-01

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Field	Value	Language
dc.contributor.author	Paul, G https://orcid.org/0000-0002-3478-0020	en_US
dc.contributor.author	Liu, DK https://orcid.org/0000-0002-1581-5582	en_US
dc.contributor.author	Kirchner, N https://orcid.org/0000-0002-3018-992X	en_US
dc.contributor.author	Webb, S	en_US
dc.date.issued	2007-12-01	en_US
dc.identifier.citation	Automation and Robotics in Construction - Proceedings of the 24th International Symposium on Automation and Robotics in Construction, 2007, pp. 99 - 104	en_US
dc.identifier.isbn	9788190423519	en_US
dc.identifier.uri	http://hdl.handle.net/10453/7154
dc.description.abstract	This paper describes a technique for autonomously exploring a complex steel bridge environment using a 6DOF anthropomorphic robotic arm, instrumented with a laser range scanner. Potential knowledge ained from a 3D range scan at an end-effector position and orientation (pose) is estimated, then arm configurations which avoid obstacles and unknown areas are computed using an optimisation approach. Safe pose solutions are compared in terms of potential gain of new weighted-information and minimal joint movement. Both simulations and robotic platform results show exploration of unknown areas occurs in a consistent and timely manner - taking an average of 4.5secs to calculate the next safe valid robot arm poses. Complex environments, typical in bridge maintenance, can be explored using an anthropomorphic arm equipped with this technique.	en_US
dc.relation.ispartof	Automation and Robotics in Construction - Proceedings of the 24th International Symposium on Automation and Robotics in Construction	en_US
dc.title	Safe and efficient autonomous exploration technique for 3D mapping of a complex bridge maintenance environment	en_US
dc.type	Conference Proceeding
utslib.for	0905 Civil Engineering	en_US
dc.location.activity	Kochi, Kerala, India	en_US
dc.location.activity	UTS
pubs.embargo.period	Not known	en_US
pubs.organisational-group	/University of Technology Sydney
pubs.organisational-group	/University of Technology Sydney/DVC (Research)
pubs.organisational-group	/University of Technology Sydney/DVC (Research)/Institute For Sustainable Futures
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.publication-status	Published	en_US

Abstract:

This paper describes a technique for autonomously exploring a complex steel bridge environment using a 6DOF anthropomorphic robotic arm, instrumented with a laser range scanner. Potential knowledge ained from a 3D range scan at an end-effector position and orientation (pose) is estimated, then arm configurations which avoid obstacles and unknown areas are computed using an optimisation approach. Safe pose solutions are compared in terms of potential gain of new weighted-information and minimal joint movement. Both simulations and robotic platform results show exploration of unknown areas occurs in a consistent and timely manner - taking an average of 4.5secs to calculate the next safe valid robot arm poses. Complex environments, typical in bridge maintenance, can be explored using an anthropomorphic arm equipped with this technique.

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http://hdl.handle.net/10453/7154