Path Planning & Measurement Registration for Robotic Structural Asset Monitoring

Abstract : The move to increased levels of autonomy for robotic delivery of inspection for asset monitoring, demands a structured approach to path planning and measurement data presentation that greatly surpasses the more ad‐,hoc approach typically employed by remotely controlled, but manually driven robotic inspection vehicles. The authors describe a traditional CAD/CAM approach to motion planning (as used in machine tool operation) which has numerous benefits including the provision for detailed structural layout to be built into the path planning, and the subsequent visual overlay of measurement data back into the CAD model. Initial trials using a steel plate with varying thickness defects have been investigated. A custom robot incorporating an ultrasonic wheel probe as rear wheel has been used to perform an ultrasonic thickness scan of the sample Ð the results have been compared to those obtained using a high resolution wheel probe scan of the sample. The robot control was generated from an initial CAD model of the sample, and the integration of post‐,processor output (in this case G code), was used as the input for our custom robotic control software to generate both simulation and experimental motion control of our robotic platform.
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Stephen Gareth Pierce, Charles Norman Macleod, Gordon Dobie, Rahul Summan. Path Planning & Measurement Registration for Robotic Structural Asset Monitoring. EWSHM - 7th European Workshop on Structural Health Monitoring, IFFSTTAR, Inria, Université de Nantes, Jul 2014, Nantes, France. ⟨hal-01022988⟩

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