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《Journal of Shanghai Jiaotong University》 2008-10
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Autonomous Localization Technique of Submarine In-pipe Robot Based on Multisensor Data Fusion

WANG Zhong-wei,CAO Qi-xin,LUAN Nan,ZHANG Lei(Research Institute of Robotics,Shanghai Jiaotong University,Shanghai 200240,China)  
Based on lots of investigation and analysis for internal and overseas in-pipe robot localization technology,a kind of localization method was brought forward,which firstly achieves rough localization using eddy current sensor to detect girth welds in pipelines,then carries out precise localization between adjacent girth welds by odometers.A production rule was presented to achieve fault-tolerance processing for undetected girth welds,which are induced by in-pipe robot's unstable crawl speed,using distance information.Multi-odometer was applied to get more reliable distance information and the consensus data fusion algorithm was adopted to process the redundant data,so in-pipe robot's localization precision is improved as well.The tests on experimental pipeline system and applications on project site show that the new in-pipeline localization method for in-pipe robot is effectual.
【Fund】: 国家高技术研究发展计划(863)项目(2007AA041703);; 国家自然科学基金资助项目(50705054)
【CateGory Index】: TP242
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