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On-plate localization and mapping for an inspection robot using ultrasonic guided waves: a proof of concept

Abstract : This paper presents a proof-of-concept for a local-ization and mapping system for magnetic crawlers performing inspection tasks on structures made of large metal plates. By relying on ultrasonic guided waves reflected from the plate edges, we demonstrate that it is possible to recover the plate geometry and robot trajectory to a precision comparable to the signal wavelength. The approach is tested using real acoustic signals acquired on test metal plates using lawnmower paths and random-walks. To the contrary of related works, this paper focuses on the practical details of the localization and mapping algorithm.
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https://hal.archives-ouvertes.fr/hal-02290265
Contributor : Cedric Pradalier <>
Submitted on : Tuesday, September 17, 2019 - 3:13:26 PM
Last modification on : Wednesday, September 16, 2020 - 10:43:09 AM
Long-term archiving on: : Sunday, February 9, 2020 - 12:02:23 AM

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  • HAL Id : hal-02290265, version 1

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Cedric Pradalier, Pascal Pomarede, Jan Steckel. On-plate localization and mapping for an inspection robot using ultrasonic guided waves: a proof of concept. 2019. ⟨hal-02290265⟩

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