NDLI: Autonomous navigation of in-pipe working robot in unknown pipeline environment

Content Provider	IEEE Xplore Digital Library
Author	Dong-Hyuk Lee Hyungpil Moon Hyouk Ryeol Choi
Copyright Year	2011
Description	Author affiliation: School of Mechanical Engineering, Sungkyunkwan University, Suwon 440-746, Korea (Dong-Hyuk Lee; Hyungpil Moon; Hyouk Ryeol Choi)
Abstract	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.
Starting Page	1559
Ending Page	1564
File Size	713726
Page Count	6
File Format	PDF
ISBN	9781612843865
ISSN	10504729
e-ISBN	9781612843858
DOI	10.1109/ICRA.2011.5980503
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2011-05-09
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Pipelines Robot sensing systems Laser beams Elbow Navigation Mobile robots
Content Type	Text
Resource Type	Article
Subject	Artificial Intelligence Control and Systems Engineering Electrical and Electronic Engineering Software

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

Concept and Design of A Fully Autonomous Sewer Pipe Inspection Mobile Robot "KANTARO"

A navigation system for robots operating in crowded urban environments

"OXNAV": reliable autonomous navigation

Switching Control of Mobile Robots for Autonomous Navigation in Unknown Environments

Mobile Robot Navigation Modulated by Artificial Emotions

Mobile robot navigation based on vision and DGPS information

Combination of model-based and reactive methods in autonomous navigation

In-pipe robot navigation based on the landmark recognition system using shadow images

On-line map building and navigation for autonomous mobile robots

Autonomous navigation of in-pipe working robot in unknown pipeline environment

Similar Documents

Concept and Design of A Fully Autonomous Sewer Pipe Inspection Mobile Robot "KANTARO"

A navigation system for robots operating in crowded urban environments

"OXNAV": reliable autonomous navigation

Switching Control of Mobile Robots for Autonomous Navigation in Unknown Environments

Mobile Robot Navigation Modulated by Artificial Emotions

Mobile robot navigation based on vision and DGPS information

Combination of model-based and reactive methods in autonomous navigation

In-pipe robot navigation based on the landmark recognition system using shadow images

On-line map building and navigation for autonomous mobile robots

Autonomous navigation of in-pipe working robot in unknown pipeline environment