Automatic Inspection of Embankment by Crawler-Type Mobile Robot

In this paper, we report a method that a mobile robot operates automatic inspection of embankment. The mobile robot KENAGE, which has been developed by Japan Aerospace Exploration Agency, tows a truck with an inspection instrument and is basically controlled by Robot Operating System. From the result of way point navigation experiment, it is confirmed that the mobile robot is able to go through several way points and to inspect the embankment automatically.