Accuracy Estimation for Autonomous Navigation of a Quadruped Robot in Construction Progress Monitoring
Accuracy Estimation for Autonomous Navigation of a Quadruped Robot in Construction Progress Monitoring
复制标题
四足机器人自主导航在施工进度监控中的精度估计
DOI：
10.1061/9780784483893.134
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发表时间：
2022
期刊：
影响因子：
--
通讯作者：
R. King
中科院分区：
文献类型：
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作者：
Srijeet Halder;K. Afsari;J. Serdakowski;Stephen Devito;R. King
施工进度监控是一项重要的检查活动。这主要是一个通过亲自目视检查进行的手动过程，耗时且容易出现人为错误。进度监控的关键是准确、及时、定期地收集和分析施工过程中的数据。利用移动的机器人进行自主数据采集可以潜在地提高施工进度监测数据采集的准确性。本研究使用四足机器人自动化施工进度监控中的数据采集。目的是研究腿式机器人在进度监控现场数据采集过程中的导航精度。本研究探讨人类操作者在数据收集过程中的定位，并进行了一系列实验研究，腿式机器人回溯其控制器上记录的路径，并分析机器人在多个任务中自主导航的准确性。研究结果显示，自动步行的位置误差为0.283米至0.633米，从记录的路径。
Construction progress monitoring is a critical inspection activity. It is mostly a manual process performed through in-person visual inspection, which is time-consuming and prone to human error. The key in progress monitoring is accurate, timely, and regular data collection and analysis of the construction process. Autonomous data collection with mobile robots can potentially improve the accuracy of data acquisition for construction progress monitoring. This study uses a four-legged robot to automate data collection in construction progress monitoring. The goal is to study the navigation accuracy of the legged robot in the on-site data acquisition process of progress monitoring. The research studies human operator positioning in the data collection process and undertakes a set of experimental investigations with the legged robot to retrace the path recorded on its controller and analyze the accuracy of the robot's autonomous navigation in multiple missions. Findings reveal an Autowalk position error of 0.283 m to 0.633 m from the recorded path.