ROADS—Rover for Bituminous Pavement Distress Survey: An Unmanned Ground Vehicle (UGV) Prototype for Pavement Distress Evaluation

Mei, Alessandro; Zampetti, Emiliano; Mascio, Paola Di; Fontinovo, Giuliano; Papa, Paolo; D’Andrea, Antonio

doi:10.3390/s22093414

Cited by 7 publications

(5 citation statements)

References 72 publications

(79 reference statements)

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“…Multispectral cameras are used to examine the degree of damage to city streets and sidewalks [ 8 ]. The UGV is equipped with a set of sensors and cameras.…”

Section: Related Workmentioning

confidence: 99%

Hyperspectral Imaging for Mobile Robot Navigation

Jakubczyk

Siemiątkowska

Więckowski

et al. 2022

Sensors

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The article presents the application of a hyperspectral camera in mobile robot navigation. Hyperspectral cameras are imaging systems that can capture a wide range of electromagnetic spectra. This feature allows them to detect a broader range of colors and features than traditional cameras and to perceive the environment more accurately. Several surface types, such as mud, can be challenging to detect using an RGB camera. In our system, the hyperspectral camera is used for ground recognition (e.g., grass, bumpy road, asphalt). Traditional global path planning methods take the shortest path length as the optimization objective. We propose an improved A* algorithm to generate the collision-free path. Semantic information makes it possible to plan a feasible and safe path in a complex off-road environment, taking traveling time as the optimization objective. We presented the results of the experiments for data collected in a natural environment. An important novelty of this paper is using a modified nearest neighbor method for hyperspectral data analysis and then using the data for path planning tasks in the same work. Using the nearest neighbor method allows us to adjust the robotic system much faster than using neural networks. As our system is continuously evolving, we intend to examine the performance of the vehicle on various road surfaces, which is why we sought to create a classification system that does not require a prolonged learning process. In our paper, we aimed to demonstrate that the incorporation of a hyperspectral camera can not only enhance route planning but also aid in the determination of parameters such as speed and acceleration.

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“…Multispectral cameras are used to examine the degree of damage to city streets and sidewalks [ 8 ]. The UGV is equipped with a set of sensors and cameras.…”

Section: Related Workmentioning

confidence: 99%

Hyperspectral Imaging for Mobile Robot Navigation

Jakubczyk

Siemiątkowska

Więckowski

et al. 2022

Sensors

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“…Natural airport surfaces share one goal: minimizing the negative impacts when an aircraft uses an Airport Functional Element (AFE). Therefore, there is an urgent need to design and implement an autonomous, unmanned measuring device that will continuously determine the load capacity of natural airport surfaces and, thus, increase the safety of flight operations [8]. A thorough review of some of the existing strategies for pothole detection along highways was conducted by [9,10].…”

Section: Introductionmentioning

confidence: 99%

BIZON–UGV for Airport Pavement Testing: Mechanics and Control

Chodnicki,

Nowakowski,

Pietruszewski

et al. 2024

Applied Sciences

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The paper presents a study of the performance and development of unmanned ground vehicles (UGVs), establishing mathematical and numerical models of the chassis system. The model analysis is performed by 3D software package SolidWorks 2018 with finite element discretization. The mesh modelling and analysis are focused on studying the strength and stiffness of the robotic platform chassis and the distribution of stress and deformation in the extremal condition. The paper also presents an autopilot design with a new cascade control system for the autonomous motion of an unmanned ground vehicle based on proportional–integral–derivative (PID) and feedforward (FF) control. The PID-FF controller is part of a UGV used in a hybrid control system for precise control and stabilization, which is necessary to increase the vehicle motion stability and maneuver precision. The hybrid PID-FF control system proposed for the ground vehicle model gives satisfactory control quality while maintaining the simplicity of the control system. The presented tests performed in mechanical design and control analysis give good results and prove the usefulness of the designed unmanned device.

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“…Natural airport surfaces share one goal: minimization of the negative impacts when an aircraft uses an Airport Functional Element (AFE). Therefore, there is an urgent need to design and 2 implement an autonomous, unmanned measuring device that will continuously determine the load capacity of natural airport surfaces, and thus increase the safety of flight operations [21]. A thorough review of some of the existing strategies for pothole detection along highways was conducted by [16,20].…”

Section: Introductionmentioning

confidence: 99%

Bizon – UGV for Airport Pavement Testing. Mechanics and Control.

Stepien,

Chodnicki,

Nowakowski

et al. 2024

Preprint

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In the paper, a study of the performance of unmanned ground vehicle (UGV), establishes numerical simulation model of the chassis system by three-dimensional software and finite element analysis software. Based on the numerical modelling and analysis, the work focuses on study of the strength and stiffness of the vehicle's chassis and researched the distribution of stress and deformation under the extremal condition. The paper also presents an autopilot design with new cascade control system for an autonomous motion of an unmanned ground vehicle based on Proportional-Integral-Derivative (PID) and Feed-Forward (FF) control. The PID-FF controller is a part of dedicated for presented UGV used in a hybrid control system for precise control and stabilization, necessary to increase the vehicle motion stability and maneuvers precision. The hybrid PID-FF control system proposed for the ground vehicle model gives a satisfactory quality of control, while maintaining the simplicity of the control system. Presented tests performed in area of mechanical design and control analysis gives good results and proves usefulness of designed unmanned device.

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ROADS—Rover for Bituminous Pavement Distress Survey: An Unmanned Ground Vehicle (UGV) Prototype for Pavement Distress Evaluation

Cited by 7 publications

References 72 publications

Hyperspectral Imaging for Mobile Robot Navigation

Hyperspectral Imaging for Mobile Robot Navigation

BIZON–UGV for Airport Pavement Testing: Mechanics and Control

Bizon – UGV for Airport Pavement Testing. Mechanics and Control.

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