Dynamic Replanning in Uncertain Environments for a Sewer Inspection Robot
نویسندگان
چکیده
منابع مشابه
Dynamic replanning in uncertain environments for a sewer inspection robot
The sewer inspection robot MAKRO is an autonomous multi-segment robot with worm-like shape driven by wheels. It is currently under development in the project MAKRO-PLUS. The robot has to navigate autonomously within sewer systems. Its first tasks will be to take water probes, analyze it onboard, and measure positions of manholes and pipes to detect polluted-loaded sewage and to improve current ...
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An algorithm for online distance computation based on images taken in a sewer by a robot-inspector is presented. Modern concrete sewers are made of standard cylindrical pipes separated by manhole junction areas. Circular structures typically originate at the pipe ends and entrances as well as at the joints of the pipe sections. These structures provide regular marks on the sewer images and can ...
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ژورنال
عنوان ژورنال: International Journal of Advanced Robotic Systems
سال: 2004
ISSN: 1729-8814,1729-8814
DOI: 10.5772/5617