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

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

10 Citations (Scopus)

Abstract

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%.

Original languageEnglish
Title of host publicationSSRR 2016 - International Symposium on Safety, Security and Rescue Robotics
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages207-213
Number of pages7
ISBN (Electronic)9781509043491
DOIs
Publication statusPublished - Dec 14 2016
Event14th International Symposium on Safety, Security and Rescue Robotics, SSRR 2016 - Lausanne, Switzerland
Duration: Oct 23 2016Oct 27 2016

Other

Other14th International Symposium on Safety, Security and Rescue Robotics, SSRR 2016
CountrySwitzerland
CityLausanne
Period10/23/1610/27/16

ASJC Scopus subject areas

  • Human-Computer Interaction
  • Artificial Intelligence
  • Safety, Risk, Reliability and Quality

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  • Cite this

    Bando, Y., Suhara, H., Tanaka, M., Kamegawa, T., Itoyama, K., Yoshii, K., Matsuno, F., & Okuno, H. G. (2016). Sound-based online localization for an in-pipe snake robot. In SSRR 2016 - International Symposium on Safety, Security and Rescue Robotics (pp. 207-213). [7784300] Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/SSRR.2016.7784300