로봇학회논문지 (The Journal of Korea Robotics Society)

  • 제11권2호
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  • Pages.60-72
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  • 2016
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  • 1975-6291(pISSN)
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  • 2287-3961(eISSN)
한국로봇학회 (Korea Robotics Society)
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콘크리트 크랙 탐색 및 실링을 위한 다수의 자율주행로봇

Mobile Robots for the Concrete Crack Search and Sealing

  • Jin, Sung-Hun (Robotics, Graduate School of energy, Korea Polytechnic University) ;
  • Cho, Cheol-Joo (Electrical Engineering, Graduate School of energy, Korea Polytechnic University) ;
  • Lim, Kye-Young (Energy and Electrical Engineering, Korea Polytechnic University)
  • 투고 : 2016.01.07
  • 심사 : 2016.04.28
  • 발행 : 2016.05.31
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초록

This study proposes a multi-robot system, using multiple autonomous robots, to explore concrete structures and assist in their maintenance by sealing any cracks present in the structure. The proposed system employed a new self-localization method that is essential for autonomous robots, along with a visualization system to recognize the external environment and to detect and explore cracks efficiently. Moreover, more efficient crack search in an unknown environment became possible by arranging the robots into search areas divided depending on the surrounding situations. Operations with increased efficiency were also realized by overcoming the disadvantages of the infeasible logical behavioral model design with only six basic behavioral strategies based on distributed control-one of the methods to control swarm robots. Finally, this study investigated the efficiency of the proposed multi-robot system via basic sensor testing and simulation.

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참고문헌

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