This paper presents a system for Autonomous eXploration to Build A Map (AXBAM) of an unknown, 3D complex steel bridge structure using a 6 degreeof-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.
This paper presents the Autonomous eXploration to Build a Map -Sliding Window (AXBAM SW) approach that extends the manipulator-based exploration algorithm from previous work on selecting viewpoints to map a surrounding environment REF .
Autonomous robot manipulator-based exploration and mapping system for bridge maintenance
Robotics Auton. Syst.
Robotics Auton. Syst.
Computer Science