Abstract
The civil construction industry is one of the fastest growing industries in Brazil economically, but it is one of the less grown in terms of application of technologies and innovations. There is a scarce number of studies related to the development and use of mobile platforms applied to construction site environments. With these motivations, this paper presents the development of a mobile platform to be used as a tool to help and improve the inspection process in the construction industry and minimize the costs of acquiring an industrial mobile platform. We explain the materials used in its construction, its electrical schematic and its modeling in Solidworks 3D. The vehicle was shipped with the Robot Operation System (ROS), which used the SLAM algorithm, along with the Rplidar S2 sensor to generate 2D maps. The comparison of the work floor plan with the 2D maps resulted in values very close to the actual measurements. The results ensure that the application of the platform is successful in hostile environments. As a scientific contribution, this innovative study validated the platform navigation planning in horizontal and vertical directions to obtain less shadow in the scene, using the work floor plan as a reference.
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The complete technical report is available at the link: bit.ly/3NaKlgC.
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Available at: https://global.agilex.ai/products/scout-2-0.
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Serejo, G.L., dos Santos, V.A., Silva, A.F.B., dos Santos, C.G.R. (2023). Mobile Platform Based on ROS and LIDAR for Mapping in Civil Construction. In: Gervasi, O., et al. Computational Science and Its Applications – ICCSA 2023 Workshops. ICCSA 2023. Lecture Notes in Computer Science, vol 14104. Springer, Cham. https://doi.org/10.1007/978-3-031-37105-9_14
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