An Autonomous Robotic System for Ground Surface and Subsurface Imaging

Abstract

Imaging science attracts the attention of several researchers from different fields since it involves many application areas and subjects. Two noticeable issues are the imaging of the ground surface and subsurface in this field of science. In the literature, imaging systems are usually integrated into a mobile platform, and the imaging process is performed throughout the movement of the platform. In this study, the imaging system is deployed on an autonomous mobile platform with a skid-steering driving mode. Two main elements distinguish this mobile imaging system from others. The first is that the imaging system can simultaneously investigate the ground surface and subsurface. The latter advantage is that the mobile platform can work even in harsh outdoor conditions. The developed architecture has been tested both in the simulation environment and in the real world.