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
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;
Conference_Titel :
Intelligent Robots and Systems, 2003. (IROS 2003). Proceedings. 2003 IEEE/RSJ International Conference on
Print_ISBN :
0-7803-7860-1
DOI :
10.1109/IROS.2003.1249252
