Development of a USV-based bridge inspection system

摘要

This survey explores: the requirements of and current techniques utilized in on-water bridge inspection; USV design and configuration considerations for USV-based bridge inspection; use of acoustic sensing techniques for imaging underwater bridge structures and channel bottom features; the control and dynamic positioning of USVs for bridge inspection; and lastly, the use of advanced robotics techniques, such as system localization and mapping for improving vehicle navigation under bridges and better mapping of bridge features.