Application of ultrasonic guided waves to robotic occupancy grid mapping

Research output: Contribution to journalArticlepeer-review

9 Citations (Scopus)
6 Downloads (Pure)


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

Original languageEnglish
Article number108151
Number of pages16
JournalMechanical Systems and Signal Processing
Early online date24 Jun 2021
Publication statusPublished - 15 Jan 2022


  • automated non-destructive evaluation
  • guided waves
  • occupancy grid mapping
  • shear horizontal waves
  • ultrasonics


Dive into the research topics of 'Application of ultrasonic guided waves to robotic occupancy grid mapping'. Together they form a unique fingerprint.

Cite this