This paper introduces a road surface damage detection using mobile robot. Our research is aimed autonomous sidewalk investigation with mobile robot, for reduce the burden of human workers engaged in road maintenance. A mobile robot moves along the route for investigation and obtain shape information of road surface using 2D laser scanner. From this road surface information, road damage section will be automatically detected. By showing the detection result instead of site investigation by human workers, it expects to reduce the burden of human workers. Road surface have gradual curves and some road damage is small and less than 2 cm. Hence, our method uses random sampling to detect irregularity as road damage. This paper explains the measurement of road surface using mobile robot equipped with 2D laser scanner and the road damage detection method. In this paper, some experimental results also is shown.

In this paper, We describe our research aiming to automatically detect damaged sections of sidewalk using SOKUIKI sensor mounted on a mobile robot. We consider the problem of sidewalk survey and purpose of our research to solve that. First, we consider sensing method using a mobile robot equiped with UTM-30LX, which can get three demention value. Next we consider identification method of damaged data competing all data within a certain range with some reference planes. They are made by three points of grid data that are extracted to random in the range of conditions. Finaly, we verificate these devised mothods to apply five patterns of sidewalk. In the result, all of them can be identificated damaged sections that are similer to result of the goal, so we think that devised methods are varid to detect damaged sections of sidewalk.