On-plate localization and mapping for an inspection robot using ultrasonic guided waves: a proof of concept
Cédric Pradalier,Othmane-Latif Ouabi,Pascal Pomarede,Jan Steckel,Cédric Pradalier,Othmane-Latif Ouabi,Pascal Pomarede,Jan Steckel
This paper presents a proof-of-concept for a localization 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 r...
