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

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dc.contributor.author Paul, G
dc.contributor.author Liu, DK
dc.contributor.author Kirchner, N
dc.contributor.author Webb, S
dc.date.accessioned 2010-05-18T06:50:14Z
dc.date.issued 2007
dc.identifier.citation Automation and Robotics in Construction - Proceedings of the 24th International Symposium on Automation and Robotics in Construction, 2007, pp. 99 - 104
dc.identifier.isbn 9788190423519
dc.identifier.other E1 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.
dc.title Safe and efficient autonomous exploration technique for 3D mapping of a complex bridge maintenance environment
dc.type Conference Proceeding
dc.parent Automation and Robotics in Construction - Proceedings of the 24th International Symposium on Automation and Robotics in Construction
dc.journal.number en_US
dc.publocation Chennai en_US
dc.publocation Sydney, Australia
dc.publocation Chennai
dc.identifier.startpage 99 en_US
dc.identifier.endpage 104 en_US
dc.cauo.name FEIT.School of Elec, Mech and Mechatronic Systems en_US
dc.conference en_US
dc.conference Verified OK en_US
dc.conference Queer Space: Centres and Peripheries
dc.conference International Symposium on Automation and Robotics in Construction
dc.conference.location Madras, India en_US
dc.for 0905 Civil Engineering
dc.personcode 000350
dc.personcode 998260
dc.personcode 101395
dc.personcode 998406
dc.percentage 100 en_US
dc.classification.name Civil Engineering en_US
dc.classification.type FOR-08 en_US
dc.custom International Symposium on Automation and Robotics in Construction en_US
dc.date.activity 20070919 en_US
dc.date.activity 2007-02-20
dc.date.activity 2007-09-19
dc.location.activity Kochi, Kerala, India en_US
dc.location.activity UTS
dc.location.activity Kochi, Kerala, India
dc.description.keywords Bridge maintenance
dc.description.keywords Collision avoidance
dc.description.keywords Exploration
dc.description.keywords Inverse kinematics
dc.description.keywords Bridge maintenance
dc.description.keywords Bridge maintenance
dc.description.keywords Collision avoidance
dc.description.keywords Collision avoidance
dc.description.keywords Exploration
dc.description.keywords Exploration
dc.description.keywords Inverse kinematics
dc.description.keywords Inverse kinematics
dc.description.keywords Bridge maintenance
dc.description.keywords Collision avoidance
dc.description.keywords Exploration
dc.description.keywords Inverse kinematics
pubs.embargo.period Not known
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 Elec, Mech and Mechatronic Systems
utslib.copyright.status Open Access
utslib.copyright.date 2015-04-15 12:23:47.074767+10


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