Autonomous robotic system for high-efficiency non-destructive bridge deck inspection and evaluation

Bridges are one of the critical civil infrastructure for safety of traveling public. The conditions of bridges deteriorate with time as a result of material aging, excessive loading, and inadequate maintenance, etc. In this paper, the development of an autonomous robotic system is presented for high...

Full description

Saved in:
Bibliographic Details
Published in2013 IEEE International Conference on Automation Science and Engineering (CASE) pp. 1053 - 1058
Main Authors La, Hung M., Lim, Ronny S., Basily, Basily, Gucunski, Nenad, Jingang Yi, Maher, Ali, Romero, Francisco A., Parvardeh, Hooman
Format Conference Proceeding
LanguageEnglish
Published IEEE 01.08.2013
Subjects
Bridges
Global Positioning System
Robot kinematics
Robot sensing systems
Online AccessGet full text

Cover

More Information
Summary:Bridges are one of the critical civil infrastructure for safety of traveling public. The conditions of bridges deteriorate with time as a result of material aging, excessive loading, and inadequate maintenance, etc. In this paper, the development of an autonomous robotic system is presented for highly-efficient bridge deck inspection and evaluation. An autonomous mobile robot is used as a platform to carry various non-destructive evaluation (NDE) sensing systems for simultaneous and fast data collection. Besides the NDE sensors, the robot is also equipped with various onboard navigation sensors. A sensing integration scheme is presented for high-accuracy robot localization and navigation. The effectiveness of the autonomous robotic NDE system is demonstrated through extensive experiments and field deployments.
ISSN:2161-8070
DOI:10.1109/CoASE.2013.6653886