Abstract
The use of camera-equipped robotic platforms for data collection and visually monitoring applications is exponentially growing. Cluttered construction sites with many objects on the ground are challenging environments for a mobile unmanned ground vehicle (UGV) to navigate. This study presents a mobile UGV equipped with a stereo camera and a robotic arm that can remove obstacles along the UGV’s path. To achieve this, the surrounding environment is captured by the stereo camera and obstacles are detected. The obstacle’s relative location to the UGV is sent to the robotic arm module through robot operating system (ROS). Then, the robotic arm picks up and removes the obstacle. The proposed method will greatly enhance the degree of automation and frequency of data collection for construction monitoring. The results successfully demonstrate the detection and removal of obstacles, serving as one of the enabling factors for developing an autonomous UGV with various construction operating applications.
Sign-in/Register to access full text options 
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
