Developing a Crack Inspection Robot for Bridge Maintenance
One of the important tasks for bridge maintenance is bridge deck crack inspection. Traditionally, a human inspector detects cracks using his/her eyes and finds the location of cracks manually. Thus the accuracy of the inspection result is low due to the subjective nature of human judgement. We propose a system that uses a mobile robot to conduct the inspection, where the robot collects bridge deck images with a high resolution camera. In this method, the Laplacian of Gaussian algorithm is used to detect cracks and the global crack map is obtained through camera calibration and robot localization. To ensure that the robot collects all the images on the bridge deck, we develop a complete coverage path planning algorithm for the mobile robot. We compare it with other path planning strategies. Finally, we validate our proposed system through experiments and simulation.
Ronny Salim Lim Hung Manh La Zeyong Shan Weihua Sheng
school of Electrical and Computer Engineering,Oklahoma State University,Stillwater,OK 74078,USA Safety Vision,Houston,TX 77041,USA
国际会议
2011 IEEE International Conference on Robotics and Automation(2011年IEEE世界机器人与自动化大会 ICRA 2011)
上海
英文
6288-6293
2011-05-09（万方平台首次上网日期，不代表论文的发表时间）