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| Autonomous Localization Technique of Submarine Inpipe Robot Based on Multisensor Data Fusion |
| WANG Zhong-wei, CAO Qi-xin, LUAN Nan, ZHANG Lei |
| (Research Institute of Robotics, Shanghai Jiaotong University, Shanghai 200240, China) |
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Abstract Based on lots of investigation and analysis for internal and overseas inpipe robot localization technology, a kind of localization method was brought forward, which firstly achieves rough localization using eddy current sensor to detect girth welds in pipelines, then carries out precise localization between adjacent girth welds by odometers. A production rule was presented to achieve faulttolerance processing for undetected girth welds, which are induced by inpipe robot’s unstable crawl speed, using distance information. Multiodometer was applied to get more reliable distance information and the consensus data fusion algorithm was adopted to process the redundant data, so inpipe robot’s localization precision is improved as well. The tests on experimental pipeline system and applications on project site show that the new inpipeline localization method for inpipe robot is effectual.
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Received: 02 November 2007
Published: 28 October 2008
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Corresponding Authors:
CAO Qi-xin
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