Application of ultrasonic guided waves to robotic occupancy grid mapping

This paper evaluates the benefits of using ultrasonic guided waves for mapping a structure, when implemented on mobile magnetic robotic platform. It considers specific problem geometric features waves, which enables localisation edges and/or welded joints. Shear Horizontal (SH) generated by Electro-Magnetic Acoustic Transducers (EMATs) are used steel samples with nominal thickness 10 mm. A Bayesian technique (Occupancy grid mapping) was to map boundaries an irregular sample in pseudo-pulse-echo mode. The principle is demonstrated both simulation and laboratory-based experiments. shown that proposed algorithm successfully estimates position sample’s edges. Experimentally, range accuracy < 1.7 mm (1?) achieved 1 × 2 m miniaturised EMATs operating at wavelength 22