A reliable communication and localization method for gas pipeline robot chain based on RSSI theory

Wen Zhao, Mitsuhiro Kamezaki, Kento Yoshida, Minoru Konno, Ryoichi Toriumi, Shigeki Sugano

Research output: Chapter in Book/Report/Conference proceedingConference contribution

3 Citations (Scopus)

Abstract

Due to the huge microwave attenuation in small steel gas pipelines, the wireless in-pipe robots are unable to complete the inspection and maintenance in long distance. In this research, an approach of a reliable communication and localization method based on Received Signal Strength Indication (RSSI) theory and ultrasonic measurement for gas pipeline robot chain is proposed. Without any GPS modules in the pipe, the robots are able to measure and calculate a certain distance from the adjacent one by detecting and estimating the received wireless signal strength. Such approach enables the all members among the robot chain to cooperate and coordinate, and finally complete the pipeline inspection and maintenance. In addition, this paper describes a 'leader-follower' control approach in pipe to support the RSSI-based communication. The leader robot is responsible for the task of whole pipe inspection with wireless remote control by operator, and the follower robots act as the wireless 'signal relay station' for communication. Finally, such pipe robot chain cooperate and coordinate together, so that they are able to complete the inspection successfully. We evaluate the performance of the proposed method by using virtual reality simulation. The simulation result indicated that the proposed method could realize the reliable wireless communication and localization for the pipeline robots.

Original languageEnglish
Title of host publicationSII 2017 - 2017 IEEE/SICE International Symposium on System Integration
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages282-287
Number of pages6
Volume2018-January
ISBN (Electronic)9781538622636
DOIs
Publication statusPublished - 2018 Feb 1
Event2017 IEEE/SICE International Symposium on System Integration, SII 2017 - Taipei, Taiwan, Province of China
Duration: 2017 Dec 112017 Dec 14

Other

Other2017 IEEE/SICE International Symposium on System Integration, SII 2017
CountryTaiwan, Province of China
CityTaipei
Period17/12/1117/12/14

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ASJC Scopus subject areas

  • Modelling and Simulation
  • Instrumentation
  • Artificial Intelligence
  • Computer Science Applications
  • Engineering (miscellaneous)
  • Materials Science (miscellaneous)
  • Control and Optimization

Cite this

Zhao, W., Kamezaki, M., Yoshida, K., Konno, M., Toriumi, R., & Sugano, S. (2018). A reliable communication and localization method for gas pipeline robot chain based on RSSI theory. In SII 2017 - 2017 IEEE/SICE International Symposium on System Integration (Vol. 2018-January, pp. 282-287). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/SII.2017.8279226