Autonomous Navigation and Geotagging for Concrete Bridge Deck Inspections with the RABIT Robotic Platform

Automating and accelerating the data collection process for bridge decks is a necessity for the safe, cost-effective, and timely monitoring of the health of large populations of bridges. This paper describes the deployment of localization and navigation techniques onto an automated robotic system designed for rapid nondestructive evaluation (NDE) of concrete bridge decks. The system, named RABIT (Robot Assisted Bridge Inspection Tool), features holonomic driving and carries several sensor arrays encapsulating a range of different NDE technologies. Paired with a Real Time Kinematic (RTK) base station, RABIT’s position is localized through GNSS calculations down to a resolution of only two inches. This is augmented with on-board navigation sensors such as inertial measurement units (IMU), encoders, and a laser scanner to allow for automated path following, collision avoidance, and accurate geotagging of each sensor’s data. The efficacy of these methods are demonstrated through extensive experiments and field deployments.

References

[1] K. P. Chong, N. J. Carino, and G. Washer, 2003, "Health monitoring of civil infrastructures," Smart Materials and structures, 12(3):483.

[2] M. Sansalone, 1997, "Impact-echo: The complete story," ACI structural journal, 94(6):777–786.

[3] Z. W. Wang, M. Zhou, G. G. Slabaugh, J. Zhai, and T. Fang, 2011, "Automatic detection of bridge deck condition from ground penetrating radar images," IEEE transactions on automation science and engineering, 8(3):633–640.

[4] K. Gowers and S. Millard, 1999, "Measurement of concrete resistivity for assessment of corrosion," ACI Materials Journal, 96(5).

[5] K. Ohno, T. Tsubouchi, B. Shigematsu, and S. Yuta, 2004, "Differential gps and odometry-based outdoor navigation of a mobile robot," Advanced Robotics, 18(6):611–635.

[6] S. M. LaValle, 2006, Planning algorithms. Cambridge university press.

Metrics
Usage Shares
Total Views
13 Page Views
Total Shares
0 Tweets
13
0 PDF Downloads
0
0 Facebook Shares
Total Usage
13