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

研究成果: Conference contribution

3 被引用数 (Scopus)

抄録

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.

本文言語English
ホスト出版物のタイトルSII 2017 - 2017 IEEE/SICE International Symposium on System Integration
出版社Institute of Electrical and Electronics Engineers Inc.
ページ282-287
ページ数6
2018-January
ISBN(電子版)9781538622636
DOI
出版ステータスPublished - 2018 2 1
イベント2017 IEEE/SICE International Symposium on System Integration, SII 2017 - Taipei, Taiwan, Province of China
継続期間: 2017 12 112017 12 14

Other

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

ASJC Scopus subject areas

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

フィンガープリント 「A reliable communication and localization method for gas pipeline robot chain based on RSSI theory」の研究トピックを掘り下げます。これらがまとまってユニークなフィンガープリントを構成します。

引用スタイル