Localisation and navigation framework for autonomous railway robotic inspection and repair system

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dc.contributor.authorRahimi, Masoumeh
dc.contributor.authorLiu, Haochen
dc.contributor.authorRahman, Miftahur
dc.contributor.authorRuiz Carcel, Cristobal
dc.contributor.authorDurazo-Cardenas, Isidro
dc.contributor.authorStarr, Andrew
dc.contributor.authorHall, Amanda
dc.contributor.authorAnderson, Robert
dc.date.accessioned2021-11-25T18:59:30Z
dc.date.available2021-11-25T18:59:30Z
dc.date.issued2021-10-20
dc.description.abstractIn the path towards the intelligent industrial 4.0, the railway industry is keen to develop intelligent asset management strategies for digitalization and smart management for rail infrastructure. It aims to both reduce the cost and exposure of human-labor, associated with track maintenance risk, as well as increase the autonomy and accuracy for the railway inspection and repair job. A Robotic Inspection and Repair System (RIRS) is proposed to undertake the automated railway maintenance consisting of the autonomous off-track travel between base workshop and track, road-rail conversion, autonomous on-track inspection, and repair as well as remote communicating to railway signaling system and infrastructure system. This paper presents a localization and navigation framework for this new autonomous system; applied to the mentioned railway maintenance job. This system comprises a commercial Unmanned Ground Vehicle (UGV, named Warthog) with a robotic manipulator (UR10e), and multiple onboard sensors including Lidar, camera, RTK GNSS, IMU, wheel odometry, and multiple types of cameras. An adaptive trolley is also designed for the purpose of road-rail conversion. This research also focuses on how to increase accuracy for the support of track defect detection and localization.en_UK
dc.identifier.citationRahimi M, Liu H, Rahman M, et al., (2021) Localisation and navigation framework for autonomous railway robotic inspection and repair system. In: 10th International Conference on Through-life Engineering Services (TESConf 2021), 16-17 November 2021, Twente, The Netherlandsen_UK
dc.identifier.urihttps://doi.org/10.2139/ssrn.3945953
dc.identifier.urihttps://dspace.lib.cranfield.ac.uk/handle/1826/17301
dc.language.isoenen_UK
dc.publisherSSRNen_UK
dc.rightsAttribution 4.0 International
dc.rights.urihttp://creativecommons.org/licenses/by/4.0/
dc.subjectAutonomous Systemen_UK
dc.subjectRailway Maintenanceen_UK
dc.subjectRobotic Inspection and Repairen_UK
dc.subjectLocalisationen_UK
dc.subjectNavigationen_UK
dc.titleLocalisation and navigation framework for autonomous railway robotic inspection and repair systemen_UK
dc.typeConference paperen_UK

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