Autonomous robot manipulator-based exploration and mapping system for bridge maintenance

Authors:
Gavin Paul;Stephen Webb;Dikai Liu;Gamini Dissanayake
Affiliations:
-;-;-;-
Venue:
Robotics and Autonomous Systems
Year:
2011

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Abstract

This paper presents a system for Autonomous eXploration to Build A Map (AXBAM) of an unknown, 3D complex steel bridge structure using a 6 degree-of-freedom anthropomorphic robot manipulator instrumented with a laser range scanner. The proposed algorithm considers the trade-off between the predicted environment information gain available from a sensing viewpoint and the manipulator joint angle changes required to position a sensor at that viewpoint, and then obtains collision-free paths through safe, previously explored regions. Information gathered from multiple viewpoints is fused to achieve a detailed 3D map. Experimental results show that the AXBAM system explores and builds quality maps of complex unknown regions in a consistent and timely manner.