Measurement of the International Roughness Index (IRI) Using an Autonomous Robot (P3-AT)
作者： Jia-Ruey Chang , Yung-Shuen Su , Tsun-Cheng Huang , Shih-Chung Kang , Shang-Hsien Hsieh
关键词:
摘要: In this paper, we test whether an autonomous robot can be used to measure the International Roughness Index (IRI), a description of pavement ride quality in terms its longitudinal profile. A ready-made robot, Pioneer P3-AT, was equipped with odometers, laptop computer, CCD laser, and SICK laser ranger finder autonomously perform collection profiles. ProVAL (Profile Viewing AnaLysis) software compute IRI. The preliminary conducted indoors on extremely smooth uniform 50 m length pavement. average IRI (1.09 m/km) found using P3AT is robustly comparable that commercial ARRB walking profilometer. This work initial step toward robotic inspections. We also discuss future integration inertial navigation systems global positioning (INS GPS) conjunction P3-AT for practical
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