Smart Navigation for In-pipe Robots with Multi-phase Motion Control and Particle Filter
Saber Kazeminasab, Vahid Janfaza, Moein Razavi, and M. Katherine Banks

TL;DR
This paper presents a novel smart navigation method for in-pipe robots using particle filtering and a two-phase motion control, enabling effective operation without wireless communication in complex pipeline environments.
Contribution
It introduces a new navigation approach combining particle filtering with a dual-mode motion controller for in-pipe robots, addressing communication and environment challenges.
Findings
Successfully navigates complex pipeline paths
Operates without wireless communication
Capable of long-distance water system inspection
Abstract
In-pipe robots are promising solutions for condition assessment, leak detection, water quality monitoring in a variety of other tasks in pipeline networks. Smart navigation is an extremely challenging task for these robots as a result of highly uncertain and disturbing environment for operation. Wireless communication to control these robots during operation is not feasible if the pipe material is metal since the radio signals are destroyed in the pipe environment, and hence, this challenge is still unsolved. In this paper, we introduce a method for smart navigation for our previously designed in-pipe robot [1] based on particle filtering and a two-phase motion controller. The robot is given the map of the operation path with a novel approach and the particle filtering determines the straight and non-straight configurations of the pipeline. In the straight paths, the robot follows a…
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Taxonomy
TopicsUnderwater Vehicles and Communication Systems · Robotics and Sensor-Based Localization · Water Quality Monitoring Technologies
