Publication Details
Title: Development of Tethered Mobile Routing Robot (TMRR)
Author/Presenter: Hong, Daehie; Mueller, Keith J.; Stiles, James M.; Velinsky, Steven A.
Publication Number: UCD-ARR-97-02-24-01
Abstract: This report describes the development of a new wheeled mobile robot aimed at automating the crack preparation and sealing process. This robot is a differentially steered wheeled mobile robot with centrally located router and articulated sealant head. Additionally, a laser range sensor is installed from the front of the robot to allow for automated crack following. The sensor is slide mounted to provide the necessary field of view. A support vehicle provides all power and materials through the use of a tether, and also contains a vision based sensing system for crack identification. The robot position relative to the support vehicle is thus necessary, and it is accurately measured through a cable extension transducer based system. This mobile robot is referred to as the Tethered Mobile Routing Robot (TMRR). This report includes the descriptions of this unique mobile robot system and also operational instructions.
Publisher: Advanced Highway Maintenance and Construction Technology Center
Publication Date: February, 1997
Notes: To order, or for questions, please call (530) 752-5981.
