Abstract
Advancements in robotics and autonomous systems are being deployed nowadays in many application domains such as search and rescue, industrial automation, domestic services and healthcare. These systems are developed to tackle tasks in some of the most challenging, labour intensive and dangerous environments. Inspecting structures (e.g. bridges, buildings, ships, wind turbines and aircrafts) is considered a hard task for humans to perform and of critical importance since missing any details could affect the structure’s performance and integrity. Additionally, structure inspection is time and resource intensive and should be performed as efficiently and accurately as possible. Inspecting various structures has been reported in the literature using different robotic platforms to: inspect difficult to reach areas and detect various types of faults and anomalies. Typically, inspection missions involve performing three main tasks: coverage path planning, shape, model or surface reconstruction and the actual inspection of the structure. Coverage path planning ensures the generation of an optimized path that guarantees the complete coverage of the structure of interest in order to gather highly accurate information to be used for shape/model reconstruction. This article aims to provide an overview of the recent work and breakthroughs in the field of coverage path planning and model reconstruction, with focus on 3D reconstruction, for the purpose of robotic inspection.
Highlights
The ongoing developments in the field of autonomous robots have witnessed a growth in utilizing different robotic platforms in real life applications
We have surveyed the literature related to the inspection of structures using robotic systems
The coverage path planning (CPP) problem has been addressed using different approaches in the literature based on a reference model of the object
Summary
The ongoing developments in the field of autonomous robots have witnessed a growth in utilizing different robotic platforms in real life applications. Inspecting large structures is important in applications that require maintenance, fault traceability, anomaly and defects detection and model digitizing. Inspecting structures requires various robotic capabilities such as localization in the environment where the structure exists, path planning and navigation in order to compute a set of achievable routes, sensing and perception in order to gather information about the structure from different viewpoints along the route. It is important to equip the robot with intelligent sensing capabilities that enhance the quality of the information gathered in order to reconstruct and inspect the structure of Khalifa University of Science Technology and Research, Abu Dhabi, United Arab Emirates. While utilizing robotic systems in inspection applications, majority of existing approaches attempt to reduce the computational cost (time need to compute and execute the inspection mission), avoid collision with the structure of interest and gather information with sufficient resolution for anomaly detection
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