Multi-robot navigation and control for acoustic inspection of metal plate structures
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Da Silva Alves, Brandon Jérémy
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Abstract
This report presents a study on autonomous exploration on metal structures, focusing on the evaluation of three exploration strategies. The objective of this study was to develop effective methods allowing autonomous robot systems to explore a metal structure, in a complete and efficient way, in search of corrosion points. The three strategies evaluated include Roller Painting, Nordic Skiing and Polygonal Imvestigation, all three based on oc- cupancy grids. The experiments were carried out in simulation using Gazebo and a crawler model developed for the BugWright2 European project. These robots are notably equipped with UItrasonic Guided Wave (UGW) sensors, specific to our problem. The performances of the different strategies were evaluated in terms of investigation time and accuracy of the mapping obtained. The results obtained demonstrated the effectiveness of each strategy. The Roller Painting strategy allowed for a quick but imprecise investigation. The Nordic Sking strategy allowed a slow but rather precise investigation. Finally, the Polygonal In- vestigation strategy made it possible to combine the advantages of the other two strategies. Future perspectives include improving the polygonal exploration strategy by developing more robust methods for collision management. In addition, the extension of this study to experiments with several teams of robots constitutes an interesting avenue for further accelerating the investigation time. This study contributes to research in autonomous in- vestigation and provides indications for the development of effective investigation systems in corroded metallic environments. The results obtained have important implications in various fields, such as service robotics, space exploration and environmental monitoring.
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2023-08-17
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