Return to search

Path Planning and Path Following for an Autonomous GPR Survey Robot

Ground Penetrating Radar (GPR) is a tool for mapping the subsurface in a non-invasive way. GPR surveys are currently carried out manually; a time-consuming, tedious and sometimes dangerous task. This report presents the high-level software components for an autonomous unmanned ground vehicle to conduct GPR surveys. The hardware system is a four-wheel drive, skid steering, battery operated vehicle with integrated GPR equipment. Autonomous surveys are conducted using lidar-inertial odometry with robust path planning, path following and obstacle avoidance capabilities. Evaluation shows that the vehicle is able to autonomously execute a planned survey with high accuracy and stops before collisions occur. This system enables high-frequency surveys to monitor the evolution of an area over time, allows one operator to monitor multiple surveys at once, and facilitates future research into novel survey patterns that are difficult to follow manually

Identiferoai:union.ndltd.org:UPSALLA1/oai:DiVA.org:umu-195737
Date January 2022
CreatorsMeedendorp, Maurice
PublisherUmeå universitet, Institutionen för datavetenskap
Source SetsDiVA Archive at Upsalla University
LanguageEnglish
Detected LanguageEnglish
TypeStudent thesis, info:eu-repo/semantics/bachelorThesis, text
Formatapplication/pdf
Rightsinfo:eu-repo/semantics/openAccess
RelationUMNAD ; 1316

Page generated in 0.0019 seconds