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Communication Dans Un Congrès Année : 2020

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

Cedric Pradalier
Othmane-Latif Ouabi

Résumé

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 show 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 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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Dates et versions

hal-02941248 , version 1 (16-09-2020)

Identifiants

  • HAL Id : hal-02941248 , version 1

Citer

Cedric Pradalier, Othmane-Latif Ouabi, Pascal Pomarede, Jan Steckel. On-plate localization and mapping for an inspection robot using ultrasonic guided waves: a proof of concept. IROS 2020, Oct 2020, Las-Vegas (Virtual), United States. ⟨hal-02941248⟩
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