Safe robot navigation and infrastructure data capture within commercial environments via optimal positioning of sensors

资本项目雇用工程师根据项目计划设计资产。零部件在世界各地的工厂制造，然后运往现场，在许多情况下，这些现场与现有的基础设施不相适应。这些因素以及其他因素使资本项目行业每年损失1.6万亿美元。使用革命性和综合性的端到端软件解决方案来解决工业返工问题，并促进通过收集各种传感和空间数据生成的数字项目信息，以创建物理项目的数字双胞胎，从而促进主动、具有成本效益的项目执行。然而，通常是手动执行的数据收集需要自动化，以使基建项目能够有效执行，同时保持所需的传感器数据准确性。通过识别现实和计划之间的不匹配，自动化传感器数据收集将使项目执行早期的纠正行动能够在它们导致返工之前进行。本项目的重点是通过使用自主无人地面车辆(UGV)实现首都项目高清晰度快速数据收集的自动化。特别是，我们将开发增强的机器人避障机制，以更好地估计传感器位置和操纵UGV，以优化传感器的位置，以便相关和准确的数据收集。视觉输入(LIDAR传感器)将用作反馈，以伺服UGV用于3D运动，同时具有快速识别准确传感器位置的能力。重点是开发工具，用于(1)准确检测商业场地中常见的复杂障碍物(例如，架空电缆)，(2)通过视觉伺服/测量进行UGV路径规划，以实现传感器的最佳布置，以及(3)分析建筑工地使用UGV的有效性。

Capital projects employ engineers to design assets based on project plans. Parts are built in factories all overthe world and shipped to site which in numerous occasions do not fit to the existing infrastructure. These andother factors cost the capital project industry $1.6 Trillion annually. Using a revolutionary and comprehensiveend-to-end software solution to solve the problem of industrial rework and facilitate proactive, cost effectiveproject execution digital project information generated via the collection of a variety of sensory and spatial datato create a Digital Twin of the physical project is currently being used. However, data collection, typicallyperformed manually, requires to be automated to enable effective capital project execution while maintainingthe required sensor data accuracy.By identifying mismatches between reality and plan, the automated sensor data collection will enable correctiveactions early in the project execution before they cause rework.The focus of this project is to automate capital project fast data collection in high definition via the use ofautonomous Unmanned Ground Vehicles (UGVs).In particular we will develop enhanced robot's obstacle avoidance mechanisms to better estimate sensorplacement and maneuvering the UGV to optimally position the sensors for relevant and accurate datacollection. A vision input (LIDAR sensor) will be used as a feedback to servo the UGV for 3D motionpurposes while having the capabilities to quickly identify precise sensor placement. The focus is on developingtools for (1) accurate detection of complex obstacles typically found in commercial sites (e.g., overhandcables), (2) UGV path planning for optimal sensor placement via visual servoing/surveying, and (3) analyze theeffectiveness of the use of UGVs in construction sites.