Optimal motion planning and control of a crack filling robot for civil infrastructure automation

Chaoke Guo, Kaiyan Yu, Yongbin Gong, Jingang Yi

Research output: Chapter in Book/Report/Conference proceedingConference contribution

1 Scopus citations

Abstract

Surface cracks exist in many civil infrastructures such as road and bridge deck surfaces, parking lots, and building surfaces, etc. To prevent the crack growth and further deterioration, it is necessary to fill these cracks with appropriate materials on time. We present a robotic crack filling system that can effectively and efficiently deliver fluidic repairing materials to fill surface cracks. Motion planning and cracking filling control are the two main tasks presented in this paper. We present a graph-based crack coverage (GCC) algorithm to solve motion planning problem. The filling motion control is captured by a model predictive control (MPC) scheme given the mobile platform trajectory. We also develop a crack-filling robotic prototype. Simulation and experimental results are presented to demonstrate the system design and performance evaluation.

Original languageEnglish (US)
Title of host publication2017 13th IEEE Conference on Automation Science and Engineering, CASE 2017
PublisherIEEE Computer Society
Pages1463-1468
Number of pages6
ISBN (Electronic)9781509067800
DOIs
StatePublished - Jul 1 2017
Event13th IEEE Conference on Automation Science and Engineering, CASE 2017 - Xi'an, China
Duration: Aug 20 2017Aug 23 2017

Publication series

NameIEEE International Conference on Automation Science and Engineering
Volume2017-August
ISSN (Print)2161-8070
ISSN (Electronic)2161-8089

Other

Other13th IEEE Conference on Automation Science and Engineering, CASE 2017
Country/TerritoryChina
CityXi'an
Period8/20/178/23/17

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering
  • Electrical and Electronic Engineering

Fingerprint

Dive into the research topics of 'Optimal motion planning and control of a crack filling robot for civil infrastructure automation'. Together they form a unique fingerprint.

Cite this