Advanced Ground Settlement Monitoring in Urban Excavation Using Multi-Sensor UGV Technology

This study introduces a novel multi-sensor unmanned ground vehicle (UGV) system for monitoring ground deformation adjacent to urban excavation sites. In response to limitations in current monitoring practices and public concerns about visible damage, the research developed a UGV platform equipped with three integrated sensor modules: a Global Navigation Satellite System (GNSS)-Simultaneous Localization and Mapping (SLAM) system for localization, a camera-based photogrammetry unit for vertical displacement analysis, and a line laser scanner for measuring block spacing changes. The system was validated on a 12-m testbed simulating sidewalk pavement with controlled deformation scenarios. Results demonstrated the UGV’s ability to accurately detect and quantify settlement-induced deformations with sub-millimeter precision, even under signal interference conditions. The integrated approach enabled real-time processing and zonal analysis, which improved data stability compared to traditional methods. The proposed Excavation Damage Index effectively visualized deformation severity, offering a practical, scalable, and efficient solution to address gaps in adjacent ground monitoring during urban excavation projects.