Simulation Based Study Of Ground Mobile Robots For Inspection And Control Of The Bridge Assembly Process

Abstract

Nowadays, the inspection of bridges poses a significant challenge for safeguarding critical infrastructures. Recent advancements have seen the integration of robots to replace human personnel in hazardous tasks. These robots, whether operating autonomously or through tele-operation, play a crucial role in monitoring structures and infrastructure, ensuring secure access to areas such as manholes on decks and box girder bridges. Specifically designed for environments deemed dangerous, difficult, or inaccessible to humans, ground mobile robots equipped with appropriate sensors are increasingly deployed for inspection purposes. This paper addresses simulation tests conducted by a hybrid mobile robot. Its compact design and maneuverability enable it to navigate through obstacles, making it suitable for inspecting railway or highway bridge decks as well as confined spaces within box girder bridges. The study includes a survey of existing bridges highlighting key issues to be addressed and presents simulation results for the hybrid rover, which has been developed and equipped with sensors tailored to fulfill inspection tasks within a selected case study.