Autonomous robotic system for high-efficiency non-destructive bridge deck inspection and evaluation

Bridges are one of the critical civil infrastructure for safety of traveling public. The conditions of bridges deteriorate with time as a result of material aging, excessive loading, and inadequate maintenance, etc. In this paper, the development of an autonomous robotic system is presented for high...

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Bibliographic Details
Published in:	2013 IEEE International Conference on Automation Science and Engineering (CASE) pp. 1053 - 1058
Main Authors:	La, Hung M., Lim, Ronny S., Basily, Basily, Gucunski, Nenad, Jingang Yi, Maher, Ali, Romero, Francisco A., Parvardeh, Hooman
Format:	Conference Proceeding
Language:	English
Published:	IEEE 01-08-2013
Subjects:	Bridges Global Positioning System Robot kinematics Robot sensing systems
Online Access:	Get full text
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Summary:	Bridges are one of the critical civil infrastructure for safety of traveling public. The conditions of bridges deteriorate with time as a result of material aging, excessive loading, and inadequate maintenance, etc. In this paper, the development of an autonomous robotic system is presented for highly-efficient bridge deck inspection and evaluation. An autonomous mobile robot is used as a platform to carry various non-destructive evaluation (NDE) sensing systems for simultaneous and fast data collection. Besides the NDE sensors, the robot is also equipped with various onboard navigation sensors. A sensing integration scheme is presented for high-accuracy robot localization and navigation. The effectiveness of the autonomous robotic NDE system is demonstrated through extensive experiments and field deployments.
ISSN:	2161-8070 2161-8089
DOI:	10.1109/CoASE.2013.6653886