TY - GEN
T1 - Sound-based online localization for an in-pipe snake robot
AU - Bando, Yoshiaki
AU - Suhara, Hiroki
AU - Tanaka, Motoyasu
AU - Kamegawa, Tetsushi
AU - Itoyama, Katsutoshi
AU - Yoshii, Kazuyoshi
AU - Matsuno, Fumitoshi
AU - Okuno, Hiroshi G.
N1 - Publisher Copyright:
© 2016 IEEE.
Copyright:
Copyright 2017 Elsevier B.V., All rights reserved.
PY - 2016/12/14
Y1 - 2016/12/14
N2 - 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%.
AB - 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%.
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U2 - 10.1109/SSRR.2016.7784300
DO - 10.1109/SSRR.2016.7784300
M3 - Conference contribution
AN - SCOPUS:85009823661
T3 - SSRR 2016 - International Symposium on Safety, Security and Rescue Robotics
SP - 207
EP - 213
BT - SSRR 2016 - International Symposium on Safety, Security and Rescue Robotics
A2 - Melo, Kamilo
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 14th International Symposium on Safety, Security and Rescue Robotics, SSRR 2016
Y2 - 23 October 2016 through 27 October 2016
ER -