TY - JOUR
T1 - A novel UHF-RFID dual antenna signals combined with gaussian process and particle filter for in-pipe robot localization
AU - Gunatilake, A.
AU - Kodagoda, S.
AU - Thiyagarajan, Karthick
PY - 2022
Y1 - 2022
N2 - Condition assessment of underground infrastructures such as pipe networks is crucial for aging cities around the globe. Recent development of robotic technologies facilitated application of them in condition assessment of pipe networks. However, there is still a gap for accurate localization technology in pipes due to complexity of the environment. In this letter, we propose a novel ultra-high frequency radio frequency identification (UHF-RFID) technology dual antenna system combined with Gaussian process and Particle filter algorithms to achieve millimeter level localization accuracy. The system is capable of achieving millimeter level accuracy over 50 m of length without an apparent estimation drift. The results were validated through experiments conducted using an extracted water pipe section.
AB - Condition assessment of underground infrastructures such as pipe networks is crucial for aging cities around the globe. Recent development of robotic technologies facilitated application of them in condition assessment of pipe networks. However, there is still a gap for accurate localization technology in pipes due to complexity of the environment. In this letter, we propose a novel ultra-high frequency radio frequency identification (UHF-RFID) technology dual antenna system combined with Gaussian process and Particle filter algorithms to achieve millimeter level localization accuracy. The system is capable of achieving millimeter level accuracy over 50 m of length without an apparent estimation drift. The results were validated through experiments conducted using an extracted water pipe section.
UR - https://hdl.handle.net/1959.7/uws:76800
U2 - 10.1109/LRA.2022.3163769
DO - 10.1109/LRA.2022.3163769
M3 - Article
SN - 2377-3766
VL - 7
SP - 6005
EP - 6011
JO - IEEE Robotics and Automation Letters
JF - IEEE Robotics and Automation Letters
IS - 3
ER -
