Abstract
Since the period of high economic growth, several social infrastructure facilities have been aging. Regular inspections are conducted for safety; however, current bridge inspections are visually performed, which is problematic with regard to cost and safety. Therefore, robots are being considered for inspections. In previous research, a bridge inspection robot was developed, and the small bridge inspection robot BIREM with high driving performance was developed. However, as BIREM-IV is manually operated, autonomous driving is required. In this study, a planar light detection and ranging (LiDAR) sensor, which was developed in the previous study, and a camera was mounted to perform localization for the autonomous driving of the bridge inspection robot BIREM-IV. In addition, in order to mount the sensor necessary for localization in the robot, the driving performance evaluation according to the change of the robot's additional weight and center of gravity was conducted as a previous study, and a new robot was designed and manufactured based on the results. The newly manufactured BIREM-IV-P is path planning by comparing it with the coordinates of the destination point based on the robot's localization information obtained from the mounted planar LiDAR and the camera and analyzes the possibility of autonomous driving to the destination through path tracking.
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