Autonomous Driving System with a Planar LiDAR-based Localization Method for a Magnetic Wheeled-type Bridge Inspection Robot—BIREM-IV-P

Hyunwoo Song; Ryota Hatanaka; Masaru Tanida; Yogo Takada

doi:doi:10.11648/j.acis.20210904.13

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Autonomous Driving System with a Planar LiDAR-based Localization Method for a Magnetic Wheeled-type Bridge Inspection Robot—BIREM-IV-P

Hyunwoo Song, Ryota Hatanaka, Masaru Tanida, Yogo Takada

Published in Automation, Control and Intelligent Systems (Volume 9, Issue 4)

Received: 15 November 2021 Accepted: 9 December 2021 Published: 24 December 2021

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Abstract

Since the period of high economic growth, several social infrastructure facilities have been aging. Regular inspections are conducted for safety; however, current bridge inspections are visually performed, which is problematic with regard to cost and safety. Therefore, robots are being considered for inspections. In previous research, a bridge inspection robot was developed, and the small bridge inspection robot BIREM with high driving performance was developed. However, as BIREM-IV is manually operated, autonomous driving is required. In this study, a planar light detection and ranging (LiDAR) sensor, which was developed in the previous study, and a camera was mounted to perform localization for the autonomous driving of the bridge inspection robot BIREM-IV. In addition, in order to mount the sensor necessary for localization in the robot, the driving performance evaluation according to the change of the robot's additional weight and center of gravity was conducted as a previous study, and a new robot was designed and manufactured based on the results. The newly manufactured BIREM-IV-P is path planning by comparing it with the coordinates of the destination point based on the robot's localization information obtained from the mounted planar LiDAR and the camera and analyzes the possibility of autonomous driving to the destination through path tracking.

Published in	Automation, Control and Intelligent Systems (Volume 9, Issue 4)
DOI	10.11648/j.acis.20210904.13
Page(s)	111-121
Creative Commons	This is an Open Access article, distributed under the terms of the Creative Commons Attribution 4.0 International License (http://creativecommons.org/licenses/by/4.0/), which permits unrestricted use, distribution and reproduction in any medium or format, provided the original work is properly cited.
Copyright	Copyright © The Author(s), 2024. Published by Science Publishing Group

Keywords

Four-wheel Driving Robot, Bridge Inspection, Planar LiDAR, Autonomous Driving System

References

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[4]	Y. Okada, T. Okatani, Development of UAV with Passive Rotating Spherical Shell for Bridge Inspection and its Evaluation of Inspection Capability in Real Bridges, Journal of the Robotics Society of Japan, Vol. 34 (2016), No. 2, pp. 119-122 (in Japanese).
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[8]	Pang-jo Chun, Ji Dang, Shunsuke Hamasaki, Ryosuke Yajima, Toshihiro Kameda, Hideki Wada, Tatsuro Yamane, Shota Izumi, and Keiji Nagatani, Utilization of Unmanned Aerial Vehicle, Artificial Intelligence, and Remote Measurement Technology for Bridge Inspections, Journal of Robotics and Mechatronics, Vol. 32, No. 6 (2020), pp. 1244-1258.
[9]	Hyunwoo Song, Ryota Hatanaka, Yogo Takada, Effects of Centroid Position on Running Performance of Bridge Inspection Robot BIREM-IV, IOSR Journal of Mechanical and Civil Engineering (IOSR-JMCE), Vol. 18, No. 2 (2021), pp. 41-49.
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[12]	Kiyoaki Takahashi, Takafumi Ono, Tomokazu Takahashi, Masato Suzuki, Yasuhiko Arai, and Seiji Aoyagi, “Performance Evaluation of Robot Localization Using 2D and 3D Point Clouds,” J. Robot. Mechatron., Vol. 29, No. 5 (2017), pp. 928-934.
[13]	Kanhere, A. V. and Gao, G. X., LiDAR SLAM utilizing normal distribution transform and measurement consensus, ION GNSS+ 2019 (2019), pp. 2228-2240.
[14]	Tomohiro Umetani, Yuya Kondo, and Takuma Tokuda, Rapid Development of a Mobile Robot for the Nakanoshima Challenge Using a Robot for Intelligent Environments, J. Robot. Mechatron., Vol. 32, No. 6 (2020), pp. 1211-1218.
[15]	R. Mur-Artal and J. D. Tardós, "ORB-SLAM2: An Open-Source SLAM System for Monocular, Stereo, and RGB-D Cameras," in IEEE Transactions on Robotics, Vol. 33, No. 5 (2017), pp. 1255-1262.
[16]	Hyunwoo Song, Jun Nakahama, Yogo Takada, Localization method using planar LiDAR for mobile robots to support bridge inspection, Transactions of the JSME (in Japanese), Vol. 87, No. 896 (2021), p. 20-00346.
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APA Style

Hyunwoo Song, Ryota Hatanaka, Masaru Tanida, Yogo Takada. (2021). Autonomous Driving System with a Planar LiDAR-based Localization Method for a Magnetic Wheeled-type Bridge Inspection Robot—BIREM-IV-P. Automation, Control and Intelligent Systems, 9(4), 111-121. https://doi.org/10.11648/j.acis.20210904.13

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ACS Style

Hyunwoo Song; Ryota Hatanaka; Masaru Tanida; Yogo Takada. Autonomous Driving System with a Planar LiDAR-based Localization Method for a Magnetic Wheeled-type Bridge Inspection Robot—BIREM-IV-P. Autom. Control Intell. Syst. 2021, 9(4), 111-121. doi: 10.11648/j.acis.20210904.13

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AMA Style

Hyunwoo Song, Ryota Hatanaka, Masaru Tanida, Yogo Takada. Autonomous Driving System with a Planar LiDAR-based Localization Method for a Magnetic Wheeled-type Bridge Inspection Robot—BIREM-IV-P. Autom Control Intell Syst. 2021;9(4):111-121. doi: 10.11648/j.acis.20210904.13

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@article{10.11648/j.acis.20210904.13,
  author = {Hyunwoo Song and Ryota Hatanaka and Masaru Tanida and Yogo Takada},
  title = {Autonomous Driving System with a Planar LiDAR-based Localization Method for a Magnetic Wheeled-type Bridge Inspection Robot—BIREM-IV-P},
  journal = {Automation, Control and Intelligent Systems},
  volume = {9},
  number = {4},
  pages = {111-121},
  doi = {10.11648/j.acis.20210904.13},
  url = {https://doi.org/10.11648/j.acis.20210904.13},
  eprint = {https://article.sciencepublishinggroup.com/pdf/10.11648.j.acis.20210904.13},
  abstract = {Since the period of high economic growth, several social infrastructure facilities have been aging. Regular inspections are conducted for safety; however, current bridge inspections are visually performed, which is problematic with regard to cost and safety. Therefore, robots are being considered for inspections. In previous research, a bridge inspection robot was developed, and the small bridge inspection robot BIREM with high driving performance was developed. However, as BIREM-IV is manually operated, autonomous driving is required. In this study, a planar light detection and ranging (LiDAR) sensor, which was developed in the previous study, and a camera was mounted to perform localization for the autonomous driving of the bridge inspection robot BIREM-IV. In addition, in order to mount the sensor necessary for localization in the robot, the driving performance evaluation according to the change of the robot's additional weight and center of gravity was conducted as a previous study, and a new robot was designed and manufactured based on the results. The newly manufactured BIREM-IV-P is path planning by comparing it with the coordinates of the destination point based on the robot's localization information obtained from the mounted planar LiDAR and the camera and analyzes the possibility of autonomous driving to the destination through path tracking.},
 year = {2021}
}

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TY  - JOUR
T1  - Autonomous Driving System with a Planar LiDAR-based Localization Method for a Magnetic Wheeled-type Bridge Inspection Robot—BIREM-IV-P
AU  - Hyunwoo Song
AU  - Ryota Hatanaka
AU  - Masaru Tanida
AU  - Yogo Takada
Y1  - 2021/12/24
PY  - 2021
N1  - https://doi.org/10.11648/j.acis.20210904.13
DO  - 10.11648/j.acis.20210904.13
T2  - Automation, Control and Intelligent Systems
JF  - Automation, Control and Intelligent Systems
JO  - Automation, Control and Intelligent Systems
SP  - 111
EP  - 121
PB  - Science Publishing Group
SN  - 2328-5591
UR  - https://doi.org/10.11648/j.acis.20210904.13
AB  - Since the period of high economic growth, several social infrastructure facilities have been aging. Regular inspections are conducted for safety; however, current bridge inspections are visually performed, which is problematic with regard to cost and safety. Therefore, robots are being considered for inspections. In previous research, a bridge inspection robot was developed, and the small bridge inspection robot BIREM with high driving performance was developed. However, as BIREM-IV is manually operated, autonomous driving is required. In this study, a planar light detection and ranging (LiDAR) sensor, which was developed in the previous study, and a camera was mounted to perform localization for the autonomous driving of the bridge inspection robot BIREM-IV. In addition, in order to mount the sensor necessary for localization in the robot, the driving performance evaluation according to the change of the robot's additional weight and center of gravity was conducted as a previous study, and a new robot was designed and manufactured based on the results. The newly manufactured BIREM-IV-P is path planning by comparing it with the coordinates of the destination point based on the robot's localization information obtained from the mounted planar LiDAR and the camera and analyzes the possibility of autonomous driving to the destination through path tracking.
VL  - 9
IS  - 4
ER  -

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Author Information

Hyunwoo Song

Mechanical and Physical Engineering Graduate School, Osaka City University, Osaka, Japan
Ryota Hatanaka

Mechanical and Physical Engineering Graduate School, Osaka City University, Osaka, Japan
Masaru Tanida

Mechanical and Physical Engineering Graduate School, Osaka City University, Osaka, Japan
Yogo Takada

Mechanical and Physical Engineering Graduate School, Osaka City University, Osaka, Japan

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APA Style

Hyunwoo Song, Ryota Hatanaka, Masaru Tanida, Yogo Takada. (2021). Autonomous Driving System with a Planar LiDAR-based Localization Method for a Magnetic Wheeled-type Bridge Inspection Robot—BIREM-IV-P. Automation, Control and Intelligent Systems, 9(4), 111-121. https://doi.org/10.11648/j.acis.20210904.13

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ACS Style

Hyunwoo Song; Ryota Hatanaka; Masaru Tanida; Yogo Takada. Autonomous Driving System with a Planar LiDAR-based Localization Method for a Magnetic Wheeled-type Bridge Inspection Robot—BIREM-IV-P. Autom. Control Intell. Syst. 2021, 9(4), 111-121. doi: 10.11648/j.acis.20210904.13

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AMA Style

Hyunwoo Song, Ryota Hatanaka, Masaru Tanida, Yogo Takada. Autonomous Driving System with a Planar LiDAR-based Localization Method for a Magnetic Wheeled-type Bridge Inspection Robot—BIREM-IV-P. Autom Control Intell Syst. 2021;9(4):111-121. doi: 10.11648/j.acis.20210904.13

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@article{10.11648/j.acis.20210904.13,
  author = {Hyunwoo Song and Ryota Hatanaka and Masaru Tanida and Yogo Takada},
  title = {Autonomous Driving System with a Planar LiDAR-based Localization Method for a Magnetic Wheeled-type Bridge Inspection Robot—BIREM-IV-P},
  journal = {Automation, Control and Intelligent Systems},
  volume = {9},
  number = {4},
  pages = {111-121},
  doi = {10.11648/j.acis.20210904.13},
  url = {https://doi.org/10.11648/j.acis.20210904.13},
  eprint = {https://article.sciencepublishinggroup.com/pdf/10.11648.j.acis.20210904.13},
  abstract = {Since the period of high economic growth, several social infrastructure facilities have been aging. Regular inspections are conducted for safety; however, current bridge inspections are visually performed, which is problematic with regard to cost and safety. Therefore, robots are being considered for inspections. In previous research, a bridge inspection robot was developed, and the small bridge inspection robot BIREM with high driving performance was developed. However, as BIREM-IV is manually operated, autonomous driving is required. In this study, a planar light detection and ranging (LiDAR) sensor, which was developed in the previous study, and a camera was mounted to perform localization for the autonomous driving of the bridge inspection robot BIREM-IV. In addition, in order to mount the sensor necessary for localization in the robot, the driving performance evaluation according to the change of the robot's additional weight and center of gravity was conducted as a previous study, and a new robot was designed and manufactured based on the results. The newly manufactured BIREM-IV-P is path planning by comparing it with the coordinates of the destination point based on the robot's localization information obtained from the mounted planar LiDAR and the camera and analyzes the possibility of autonomous driving to the destination through path tracking.},
 year = {2021}
}

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TY  - JOUR
T1  - Autonomous Driving System with a Planar LiDAR-based Localization Method for a Magnetic Wheeled-type Bridge Inspection Robot—BIREM-IV-P
AU  - Hyunwoo Song
AU  - Ryota Hatanaka
AU  - Masaru Tanida
AU  - Yogo Takada
Y1  - 2021/12/24
PY  - 2021
N1  - https://doi.org/10.11648/j.acis.20210904.13
DO  - 10.11648/j.acis.20210904.13
T2  - Automation, Control and Intelligent Systems
JF  - Automation, Control and Intelligent Systems
JO  - Automation, Control and Intelligent Systems
SP  - 111
EP  - 121
PB  - Science Publishing Group
SN  - 2328-5591
UR  - https://doi.org/10.11648/j.acis.20210904.13
AB  - Since the period of high economic growth, several social infrastructure facilities have been aging. Regular inspections are conducted for safety; however, current bridge inspections are visually performed, which is problematic with regard to cost and safety. Therefore, robots are being considered for inspections. In previous research, a bridge inspection robot was developed, and the small bridge inspection robot BIREM with high driving performance was developed. However, as BIREM-IV is manually operated, autonomous driving is required. In this study, a planar light detection and ranging (LiDAR) sensor, which was developed in the previous study, and a camera was mounted to perform localization for the autonomous driving of the bridge inspection robot BIREM-IV. In addition, in order to mount the sensor necessary for localization in the robot, the driving performance evaluation according to the change of the robot's additional weight and center of gravity was conducted as a previous study, and a new robot was designed and manufactured based on the results. The newly manufactured BIREM-IV-P is path planning by comparing it with the coordinates of the destination point based on the robot's localization information obtained from the mounted planar LiDAR and the camera and analyzes the possibility of autonomous driving to the destination through path tracking.
VL  - 9
IS  - 4
ER  -

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