Autonomous Navigation of In-pipe Working Robot in Unknown Pipeline Environment
In this paper, we present the autonomous pipeline navigation method of an in-pipe robot, based on the landmark recognition system and 3D orientation sensor. The fittings of pipelines such as elbows and branches can be used as the landmarks. In this paper, we introduce a noise tolerant landmark detection method using a line laser beam projected on the internal surface of the pipeline. Once the line laser is projected on the surface of landmarks, a unique line pattern is generated. By using this line pattern, the robot can easily detect and distinguish these landmarks while recognizing the direction of the pipeline path. Simultaneously, the robot’s pose information from the orientatiom sensor and the driving motor’s encoder is continuously recorded and used to reconstruct a map of the pipelines. By using this map and a specific navigation strategy, the robot can navigate in the 3D pipeline autonomously. The effectiveness of the proposed method is validated by experiments using the in-pipe robot called MRINSPECT V.
Dong-Hyuk Lee Hyungpil Moon Hyouk Ryeol Choi
School of Mechanical Engineering,Sungkyunkwan University,Suwon 440-746,Korea
国际会议
2011 IEEE International Conference on Robotics and Automation(2011年IEEE世界机器人与自动化大会 ICRA 2011)
上海
英文
1559-1564
2011-05-09（万方平台首次上网日期，不代表论文的发表时间）