NDLI: Mobile Sensor Navigation with Miniature Active Camera for Structure Inspection

Content Provider	IEEE Xplore Digital Library
Author	Weihua Sheng Yantao Shen Ning Xi
Copyright Year	2006
Description	Author affiliation: Sch. of Electr. & Comput. Eng., Oklahoma State Univ., Stillwater, OK (Weihua Sheng)
Abstract	Structural health monitoring and inspection is very important for many civil, mechanical and aerospace systems. It is critical step in maintaining and improving the structural integrity of these systems. In this paper, we propose to develop an automated, intelligent inspection system for these engineered structures, which employs a team of intelligent climbing robots and a command robot to collaboratively carry out the inspection task. To support autonomous navigation, a miniature active camera (MoCam) module is designed, which can be used in the pose calibration of the robot. The robot pose error model is introduced. Based on that, the path planning problem for a single robot is studied and a hierarchical algorithm is developed to generate a path that satisfies the navigation requirements of the robot, Both the error model and the path planning algorithm is verified in experiments
Starting Page	1177
Ending Page	1182
File Size	5745960
Page Count	6
File Format	PDF
ISBN	1424402581
DOI	10.1109/IROS.2006.281850
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2006-10-09
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Navigation Cameras Inspection Intelligent robots Intelligent sensors Intelligent structures Robotics and automation Path planning Mechanical sensors Monitoring Structure Inspection Miniature Active Camera Path Planning
Content Type	Text
Resource Type	Article

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