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Conference Paper: Mobile sensor navigation with miniature active camera for structure inspection

TitleMobile sensor navigation with miniature active camera for structure inspection
Authors
KeywordsMiniature active camera
Structure inspection
Path planning
Issue Date2006
Citation
IEEE International Conference on Intelligent Robots and Systems, 2006, p. 1177-1182 How to Cite?
AbstractStructural health monitoring and Inspection is very important for many civil, mechanical and aerospace systems. It Is a critical step in maintaining and improving the structural integrity of these systems. In this paper, we propose to develop an automated, intelligent inspection system for these engineered structures, which employs a team of intelligent climbing robots and a command robot to collaboratively carry out the inspection teak. To support autonomous navigation, a Miniature Active Camera (MaCam) module is designed, which can be used in the pose calibration of the robot. The robot pose error model is introduced. Based on that, the path planning problem for a single robot is studied and a hierarchical algorithm is developed to generate a path that satisfies the navigation requirements of the robot Both the error model and the path planning algorithm is verified in experiments. © 2006 IEEE.
Persistent Identifierhttp://hdl.handle.net/10722/212923

 

DC FieldValueLanguage
dc.contributor.authorWeihua, Sheng-
dc.contributor.authorYantao, Shen-
dc.contributor.authorNing, Xi-
dc.date.accessioned2015-07-28T04:05:27Z-
dc.date.available2015-07-28T04:05:27Z-
dc.date.issued2006-
dc.identifier.citationIEEE International Conference on Intelligent Robots and Systems, 2006, p. 1177-1182-
dc.identifier.urihttp://hdl.handle.net/10722/212923-
dc.description.abstractStructural health monitoring and Inspection is very important for many civil, mechanical and aerospace systems. It Is a critical step in maintaining and improving the structural integrity of these systems. In this paper, we propose to develop an automated, intelligent inspection system for these engineered structures, which employs a team of intelligent climbing robots and a command robot to collaboratively carry out the inspection teak. To support autonomous navigation, a Miniature Active Camera (MaCam) module is designed, which can be used in the pose calibration of the robot. The robot pose error model is introduced. Based on that, the path planning problem for a single robot is studied and a hierarchical algorithm is developed to generate a path that satisfies the navigation requirements of the robot Both the error model and the path planning algorithm is verified in experiments. © 2006 IEEE.-
dc.languageeng-
dc.relation.ispartofIEEE International Conference on Intelligent Robots and Systems-
dc.subjectMiniature active camera-
dc.subjectStructure inspection-
dc.subjectPath planning-
dc.titleMobile sensor navigation with miniature active camera for structure inspection-
dc.typeConference_Paper-
dc.description.natureLink_to_subscribed_fulltext-
dc.identifier.doi10.1109/IROS.2006.281850-
dc.identifier.scopuseid_2-s2.0-34250663054-
dc.identifier.spage1177-
dc.identifier.epage1182-

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