6/24/2023 0 Comments Drysons method map buildingWhat the NDT means for corrosion and erosion detection are. The branches of industry where corrosion and erosion monitoring is applicable. Corrosion NDT and monitoring – application of the Sonocon B/BL and ExScan1000 instruments These tasks are relevant for almost all major industries: nuclear, thermal and hydropower, chemical and petrochemical industries, oil and gas, piping, naval, railway and automotive transport, and others. Moreover, despite all the measures taken to increase the corrosion resistance of materials, control and monitoring of appearance and development of corrosion and erosion damages remains one of the most important elements of the Risk Based Engineering. 901-908.The control of corrosion and erosion damages is one of the essential engineering tasks solving of which ensures the long performance of the objects and constructions. In Proceedings of the IEEE International Conference on Robotics and Automation, pp. Exact dynamic map building for a mobile robot using geometrical primitives produced by a 2D range finder. Vandorpe, J., Van Brussel, H., and Xu, H. Range finding and feature extraction by segmentation of images for mobile robot navigation. “LADAR 2D Controller Software Programmers Manual,” IBEO Lasertechnik, 1992. The International Journal of Robotics Research, 11(4):286-298. Dynamic map building for an autonomous mobile robot. Leonard, J.J., Durrant-Whyte, H.F., and Cox, J.I. A local path generation method using obstacle vectors and via points. In Proceedings of the IEEE 10th International Symposium on Intelligent Control, pp. An obstacle avoidance algorithm for mobile robot: The improved weighted safety vector field method. Digital image processing, Addison-Wesley Publishing. Journal of Intelligent Robotics Systems, 13:161-179. A mobile robot iconic position estimator using a radial laser scanner. Autonomous Mobile Robot, IEEE Computer Society Press, pp. Occupancy grids: A stochastic spatial representation for active robot perception. Sonar based real mapping and navigation system. International Journal of Advanced Manufacturing Technology, 139-148.Įlfes, A. A new certainty grid based mapping and navigation system for an autonomous mobile robot. Certainty grid representation for robot navigation by a bayesian method. World modelling and position estimation for a mobile robot using ultra sonic ranging. IEEE Transaction on Robotics and Automation, 7(4):535-549.Ĭrowley, J.L. Histogrammic in motion mapping for mobile robot obstacle avoidance. IEEE Transaction on Robotics and Automation, 7(3):278-288.īoreinstein, J. The vector field histogram fast obstacle avoidance for mobile robot. The presented map building method has successfully been implemented and tested on the ARES-II mobile robot system equipped with a LADAR 2D-laser range finder.īorenstein, J. Consequently, it is adequate for modeling the quasi-static environment, which includes occasional changes in positions of the obstacles rather than constant dynamic moves of the obstacles. The algorithm updates the world map in real time by detecting the changes of each obstacle region. Their shapes and features are easily extracted from the stochastic parameters of their obstacle regions, and are used to develop reliable navigation and obstacle avoidance algorithms. Whereas the geometric primitives based map sometimes does not fit well to sensor data, the presented method reliably represents various types of obstacles including those of irregular walls and sets of tiny objects. In building a map of the environment, the presented algorithm represents the obstacles with a number of stochastic obstacle regions, each of which is characterized by its own stochastic parameters such as mean and covariance. Unlike other methods that are based on a set of geometric primitives, the presented method builds a map with a set of obstacle regions. This paper presents a stochastic map building method for mobile robot using a 2-D laser range finder.
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