The Use of a VRS-Based Pioneer 3-AT Robot in Assisting Pavement Inspections

This study proposes the idea of using robots in pavement inspections and develops a framework for the application of a Pioneer 3-AT (P3-AT) autonomous robot integrated with two types of highly accurate Virtual Reference Station (VRS) technology. The two testing sites constituted in the study were 60 km apart, one of which was a rigid pavement and the other, a flexible pavement. The tire pressure and the horizontal movement of the P3-AT were calibrated. The accuracy of positioning data provided by VRS to the P3-AT was investigated under both static and dynamic conditions at 25 cm to 20 m distances of movement. We saw a standard deviation in the static test of less than 0.03 m, and the root mean square (RMS) to be very close to the specified distance of movement. The results show that VRS can provide the P3-AT with accurate positioning data regardless of pavement types and VRS systems. This study also demonstrated the use of P3-AT in positioning distresses on the pavement, the P3-AT's autonomous monitoring, and its ability to plot slabs on a rigid pavement.