An Improved Robot for Bridge Inspection

Abstract

This paper presents a significant improvement from the previous submission by the same authors at ISARC 2016. The robot is now equipped with low-cost cameras and a 2D laser scanner, which is used to monitor and survey a bridge bearing. The robot is capable of localising by combining data from a pre-surveyed 3D model of the space with real-time data collection in-situ. Autonomous navigation is also performed using the 2D laser scanner in a mapped environment. The Robot Operating System (ROS) framework is used to integrate data collection and communication for navigation.