| Title: |
A FastSLAM Approach Integrating Beamforming Maps for Ultrasound-based Robotic Inspection of Metal Structures |
| Authors: |
Ouabi, Othmane-Latif; Pomarede, Pascal; Geist, Matthieu; Declercq, Nico, F; Pradalier, Cedric |
| Contributors: |
Georgia Tech Lorraine Metz; Georgia Institute of Technology Atlanta -Ecole Supérieure d'Electricité - SUPELEC (FRANCE)-CentraleSupélec-Centre National de la Recherche Scientifique (CNRS)-Université de Franche-Comté (UFC); Université Bourgogne Franche-Comté COMUE (UBFC)-Université Bourgogne Franche-Comté COMUE (UBFC)-Arts et Métiers Sciences et Technologies; Georgia Institute of Technology Atlanta |
| Source: |
ISSN: 2377-3766 ; IEEE Robotics and Automation Letters ; https://hal.science/hal-03017841 ; IEEE Robotics and Automation Letters, 2021. |
| Publisher Information: |
CCSD; IEEE |
| Publication Year: |
2021 |
| Collection: |
Université de Franche-Comté (UFC): HAL |
| Subject Terms: |
[INFO.INFO-RB]Computer Science [cs]/Robotics [cs.RO]; [INFO.INFO-TS]Computer Science [cs]/Signal and Image Processing; [SPI.ACOU]Engineering Sciences [physics]/Acoustics [physics.class-ph] |
| Description: |
International audience ; We present a novel FastSLAM approach for a robotic system inspecting structures made of large metal plates. By taking advantage of the reflections of ultrasonic guided waves on the plate boundaries, it is possible to recover, with enough precision, both the plate shape and the robot trajectory. Contrary to our previous work, this approach takes into account the dispersive nature of guided waves in metal plates. This is leveraged to construct beamforming maps from which we solve the mapping problem through plate edges estimation for every particle, in a FastSLAM fashion. It will be demonstrated, with real acoustic measurements obtained on different metal plates, that such a framework achieves more accurate results, while the complexity of the algorithm is sensibly reduced. |
| Document Type: |
article in journal/newspaper |
| Language: |
English |
| Availability: |
https://hal.science/hal-03017841; https://hal.science/hal-03017841v3/document; https://hal.science/hal-03017841v3/file/NttH4.pdf |
| Rights: |
https://about.hal.science/hal-authorisation-v1/ ; info:eu-repo/semantics/OpenAccess |
| Accession Number: |
edsbas.FF55175B |
| Database: |
BASE |