Paper Info
Title
Surface Exploration with a Robot-Trailer System for Autonomous Subsurface Scanning
Abstract
Autonomous surface exploration with mobile robots entails the problem of simultaneous trajectory planning and path tracking, while also on-board robot localization and kinematics control are essential. When it comes to articulated robotic setups, planning and control is more challenging since the towed component that typically bears a tool or a sensing mechanism should closely follow a specific trajectory in order to accurately complete its task. The paper at hand presents a holistic surface exploration method with an articulated mobile robot that tows a two-wheeled trailer. A variation of Boustrophedon global path planing module has been developed considering robot's embodiment for full field coverage, integrated with a real-time Model Predictive Controller (MPC) to ensure trailer's path following. Articulated robot's state estimation is provided with stereo-based visual odometry. The system has been evaluated both in simulation and in realistic environment, proving its ability to perform dense surface exploration that in our particular case, eventually enables a Ground Penetrating Radar (GPR) mounted on the trailer to autonomously scan the entire target area.
Year
DOI
Venue
2019
10.1109/SmartWorld-UIC-ATC-SCALCOM-IOP-SCI.2019.00080
2019 IEEE SmartWorld, Ubiquitous Intelligence & Computing, Advanced & Trusted Computing, Scalable Computing & Communications, Cloud & Big Data Computing, Internet of People and Smart City Innovation (SmartWorld/SCALCOM/UIC/ATC/CBDCom/IOP/SCI)
Keywords
DocType
ISBN
Subsurface scanning,robot-trailer,ground penetrating radar,model predictive control
Conference
978-1-7281-4035-3
Citations 
PageRank 
References 
0
0.34
7
Authors
6
Name
Order
Citations
PageRank
Efthimios Tsiogas101.01
Ioannis Kostavelis215917.92
Georgios Kouros301.01
Andreas Kargakos4393.63
Dimitrios Giakoumis52012.60
Dimitrios Tzovaras61377205.82