Battery-Free UHF-RFID Sensors-Based SLAM for In-Pipe Robot Perception

Gunatilake, A; Kodagoda, S; Thiyagarajan, K

Battery-Free UHF-RFID Sensors-Based SLAM for In-Pipe Robot Perception

Gunatilake, A

Kodagoda, S

Thiyagarajan, K

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Publisher:: IEEE
Publication Type:: Journal Article
Citation:: IEEE SENSORS JOURNAL, 2022, 22, (20), pp. 20019-20026
Issue Date:: 2022-10-15

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Field	Value	Language
dc.contributor.author	Gunatilake, A https://orcid.org/0000-0001-7304-3472
dc.contributor.author	Kodagoda, S https://orcid.org/0000-0001-5175-9138
dc.contributor.author	Thiyagarajan, K https://orcid.org/0000-0002-4044-1711
dc.date.accessioned	2023-01-16T03:17:01Z
dc.date.available	2023-01-16T03:17:01Z
dc.date.issued	2022-10-15
dc.identifier.citation	IEEE SENSORS JOURNAL, 2022, 22, (20), pp. 20019-20026
dc.identifier.issn	1530-437X
dc.identifier.issn	1558-1748
dc.identifier.uri	http://hdl.handle.net/10453/164990
dc.description.abstract	Water utilities across the globe are concerned with the inspection and replacement of buried metallic water pipes due to corrosion-related structural damages. Internal pipe linings are commonly used as a renewal method to improve structural strength as they are regarded to be a less expensive alternative to costly and time-consuming pipe replacements. However, linings are also prone to failure as well. Therefore, water authorities regularly monitor lining performance, where defect evolution over a long period of time is an important parameter to note. It requires an accurate in-pipe robot localization technology. In this article, we propose a novel method for in-pipe robot localization and tag mapping that uses battery-free ultra high frequency (UHF)-radio-frequency identification (RFID) sensor wireless signals. It utilizes a signal mapping approach in combination with a tailored pose-graph simultaneous localization and mapping (SLAM) algorithm. Evaluation results of a field-extracted pipe sample from Sydney Water's distribution network show that the proposed approach is capable of localizing the robot within 2.5 cm accuracy in a 50-m equivalent pipe with an unknown UHF-RFID distribution. The proposed approach outperformed other reported similar work in the literature.
dc.language	English
dc.publisher	IEEE
dc.relation.ispartof	IEEE SENSORS JOURNAL
dc.relation.isbasedon	10.1109/JSEN.2022.3204682
dc.rights	info:eu-repo/semantics/embargoedAccess
dc.subject	0205 Optical Physics, 0906 Electrical and Electronic Engineering, 0913 Mechanical Engineering
dc.subject.classification	Analytical Chemistry
dc.title	Battery-Free UHF-RFID Sensors-Based SLAM for In-Pipe Robot Perception
dc.type	Journal Article
utslib.citation.volume	22
utslib.for	0205 Optical Physics
utslib.for	0906 Electrical and Electronic Engineering
utslib.for	0913 Mechanical Engineering
pubs.organisational-group	/University of Technology Sydney
pubs.organisational-group	/University of Technology Sydney/Faculty of Engineering and Information Technology
pubs.organisational-group	/University of Technology Sydney/Faculty of Engineering and Information Technology/School of Mechanical and Mechatronic Engineering
utslib.copyright.status	open_access	*
pubs.consider-herdc	false
utslib.copyright.embargo	2024-09-13T00:00:00+1000Z
dc.date.updated	2023-01-16T03:16:58Z
pubs.issue	20
pubs.publication-status	Published
pubs.volume	22
utslib.citation.issue	20

Abstract:

Water utilities across the globe are concerned with the inspection and replacement of buried metallic water pipes due to corrosion-related structural damages. Internal pipe linings are commonly used as a renewal method to improve structural strength as they are regarded to be a less expensive alternative to costly and time-consuming pipe replacements. However, linings are also prone to failure as well. Therefore, water authorities regularly monitor lining performance, where defect evolution over a long period of time is an important parameter to note. It requires an accurate in-pipe robot localization technology. In this article, we propose a novel method for in-pipe robot localization and tag mapping that uses battery-free ultra high frequency (UHF)-radio-frequency identification (RFID) sensor wireless signals. It utilizes a signal mapping approach in combination with a tailored pose-graph simultaneous localization and mapping (SLAM) algorithm. Evaluation results of a field-extracted pipe sample from Sydney Water's distribution network show that the proposed approach is capable of localizing the robot within 2.5 cm accuracy in a 50-m equivalent pipe with an unknown UHF-RFID distribution. The proposed approach outperformed other reported similar work in the literature.

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http://hdl.handle.net/10453/164990