Sound-based online localization for an in-pipe snake robot

Yoshiaki Bando, Hiroki Suhara, Motoyasu Tanaka, Tetsushi Kamegawa, Katsutoshi Itoyama, Kazuyoshi Yoshii, Fumitoshi Matsuno, Hiroshi G. Okuno

    研究成果: Conference contribution

    17 被引用数 (Scopus)

    抄録

    This paper presents a sound-based online localization method for an in-pipe snake robot with an inertial measurement unit (IMU). In-pipe robots, in particular, snake robots need online localization for autonomous inspection and for remote operator supports. The GPS is denied in a pipeline, and conventional odometry-based localization may deteriorate due to slippage and sudden unintended movements. By putting a microphone on the robot and a loudspeaker at the entrance of the pipeline, their distance can be estimated by measuring the time of flight (ToF) of a reference sound emitted from the loudspeaker. Since the sound propagation path in the pipeline is necessary for estimating the robot location, the proposed sound-based online localization method simultaneously estimates the robot location and the pipeline map by combining the distance obtained by the ToF and orientation estimated by the IMU. The experimental results showed that the error of the distance estimation was less than 7% and the accuracy of the pipeline map was more than 68.0%.

    本文言語English
    ホスト出版物のタイトルSSRR 2016 - International Symposium on Safety, Security and Rescue Robotics
    出版社Institute of Electrical and Electronics Engineers Inc.
    ページ207-213
    ページ数7
    ISBN(電子版)9781509043491
    DOI
    出版ステータスPublished - 2016 12 14
    イベント14th International Symposium on Safety, Security and Rescue Robotics, SSRR 2016 - Lausanne, Switzerland
    継続期間: 2016 10 232016 10 27

    Other

    Other14th International Symposium on Safety, Security and Rescue Robotics, SSRR 2016
    国/地域Switzerland
    CityLausanne
    Period16/10/2316/10/27

    ASJC Scopus subject areas

    • 人間とコンピュータの相互作用
    • 人工知能
    • 安全性、リスク、信頼性、品質管理

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