Dynamic Path Planning, Mapping, and Navigation for Autonomous GPR Survey Robots

Abstract: To map the subsurface Ground Penetrating Radar (GPR) can be used in a non-invasive way. It is currently done manually by pushing a wheeled device on a handlebar. This thesis suggests an alternative method using an integrated autonomous solution. To ac- complice that: several sensors were fused to give the robot perception of the world, the ability to localize itself within it, and plan a path to reach the goal. Detecting algorithms were implemented and tested to ensure the robot could handle a dynamic and compli- cated world. The results showed that the robot could independently navigate in a grid pattern conducting GPR surveys while avoiding obstacles and finding a safe route. All this will allow for collecting GPR data with precise localization measurements and in paths more detailed than a human operator could. In addition, it enables the operator to be at a safe distance in dangerous environments and to search large areas.