Planning complex inspection tasks using redundant roadmaps

Brendan Englot, Franz Hover

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

16 Scopus citations

Abstract

The aim of this work is fast, automated planning of robotic inspections involving complex 3D structures. A model comprised of discrete geometric primitives is provided as input, and a feasible robot inspection path is produced as output. Our algorithm is intended for tasks in which 2.5D algorithms, which divide an inspection into multiple 2D slices, and segmentation-based approaches, which divide a structure into simpler components, are unsuitable. This degree of 3D complexity has been introduced by the application of autonomous in-water ship hull inspection; protruding structures at the stern (propellers, shafts, and rudders) are positioned in close proximity to one another and to the hull, and clearance is an issue for a mobile robot. A global, sampling-based approach is adopted, in which all the structures are simultaneously considered in planning a path. First, the state space of the robot is discretized by constructing a roadmap of feasible states; construction ceases when each primitive is observed by a specified number of states. Once a roadmap is produced, the set cover problem and traveling salesman problem are approximated in sequence to build a feasible inspection tour. We analyze the performance of this procedure in solving one of the most complex inspection planning tasks to date, covering the stern of a large naval ship, using an a priori triangle mesh model obtained from real sonar data and comprised of 100,000 primitives. Our algorithm generates paths on a par with dual sampling, with reduced computational effort.

Original languageEnglish
Title of host publicationRobotics Research - The 15th International Symposium ISRR
EditorsHenrik I. Christensen, Oussama Khatib
Pages327-343
Number of pages17
DOIs
StatePublished - 2017
Event15th International Symposium of Robotics Research, 2011 - Flagstaff, United States
Duration: 9 Dec 201112 Dec 2011

Publication series

NameSpringer Tracts in Advanced Robotics
Volume100
ISSN (Print)1610-7438
ISSN (Electronic)1610-742X

Conference

Conference15th International Symposium of Robotics Research, 2011
Country/TerritoryUnited States
CityFlagstaff
Period9/12/1112/12/11

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