DocumentCode
399441
Title
Subsurface surveying by a rover equipped with ground-penetrating radar
Author
Barfoot, T.D. ; Eleuterio, G. M T D ; Annan, A.P.
Author_Institution
Inst. for Aerosp. Studies, Toronto Univ., Ont., Canada
Volume
3
fYear
2003
fDate
27-31 Oct. 2003
Firstpage
2541
Abstract
We discuss our experiences in integrating a commercial off-the-shelf ground-penetrating radar unit with an all-terrain rover. Straight-line subsurface surveys were generated in a fully autonomous manner using odometry and a simple visual servoing technique. Survey results for various terrains are presented. We discuss the configuration of the integrated system and make recommendations for both Martian and terrestrial applications.
Keywords
distance measurement; ground penetrating radar; planetary rovers; surveying; terrain mapping; Martian application; autonomous manner; ground penetrating radar; integrated system; odometry; subsurface surveying; terrain rover; terrestrial applications; visual servoing technique; Extraterrestrial measurements; Frequency; Geologic measurements; Ground penetrating radar; Instruments; Mars; Pulse measurements; Radar tracking; Robotics and automation; Time measurement;
fLanguage
English
Publisher
ieee
Conference_Titel
Intelligent Robots and Systems, 2003. (IROS 2003). Proceedings. 2003 IEEE/RSJ International Conference on
Print_ISBN
0-7803-7860-1
Type
conf
DOI
10.1109/IROS.2003.1249252
Filename
1249252
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