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Article: Navigating a miniature crawler robot for engineered structure inspection

TitleNavigating a miniature crawler robot for engineered structure inspection
Authors
KeywordsPath planning
Nondestructive inspection (NDI)
Mobile sensor
Climbing robot
Localization
Issue Date2008
Citation
IEEE Transactions on Automation Science and Engineering, 2008, v. 5, n. 2, p. 368-373 How to Cite?
AbstractThis paper addresses the problem of how to navigate a miniature Crawler robot in a typical engineered structure inspection applicationaircraft rivet inspection. First, a novel vision-assisted localization algorithm is developed to find the heading and position of the Crawler robot. Second, a new algorithm is developed to solve the path planning problem so that the Crawler robot can navigate through all the rivets. Experimental results validate the localization and path planning algorithms. This inspection system can be extended to other similar engineered structure inspection applications. © 2006 IEEE.
Persistent Identifierhttp://hdl.handle.net/10722/212964
ISSN
2015 Impact Factor: 2.696
2015 SCImago Journal Rankings: 1.832

 

DC FieldValueLanguage
dc.contributor.authorSheng, Weihua-
dc.contributor.authorChen, Hongjun-
dc.contributor.authorXi, Ning-
dc.date.accessioned2015-07-28T04:05:36Z-
dc.date.available2015-07-28T04:05:36Z-
dc.date.issued2008-
dc.identifier.citationIEEE Transactions on Automation Science and Engineering, 2008, v. 5, n. 2, p. 368-373-
dc.identifier.issn1545-5955-
dc.identifier.urihttp://hdl.handle.net/10722/212964-
dc.description.abstractThis paper addresses the problem of how to navigate a miniature Crawler robot in a typical engineered structure inspection applicationaircraft rivet inspection. First, a novel vision-assisted localization algorithm is developed to find the heading and position of the Crawler robot. Second, a new algorithm is developed to solve the path planning problem so that the Crawler robot can navigate through all the rivets. Experimental results validate the localization and path planning algorithms. This inspection system can be extended to other similar engineered structure inspection applications. © 2006 IEEE.-
dc.languageeng-
dc.relation.ispartofIEEE Transactions on Automation Science and Engineering-
dc.subjectPath planning-
dc.subjectNondestructive inspection (NDI)-
dc.subjectMobile sensor-
dc.subjectClimbing robot-
dc.subjectLocalization-
dc.titleNavigating a miniature crawler robot for engineered structure inspection-
dc.typeArticle-
dc.description.natureLink_to_subscribed_fulltext-
dc.identifier.doi10.1109/TASE.2007.910795-
dc.identifier.scopuseid_2-s2.0-41949142899-
dc.identifier.volume5-
dc.identifier.issue2-
dc.identifier.spage368-
dc.identifier.epage373-

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