A Novel UHF-RFID Dual Antenna Signals Combined with Gaussian Process and Particle Filter for In-pipe Robot Localization
- Publisher:
- IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
- Publication Type:
- Journal Article
- Citation:
- IEEE Robotics and Automation Letters, 2022, 7, (3), pp. 6005-6011
- Issue Date:
- 2022-03-31
Open Access
Copyright Clearance Process
- Recently Added
- In Progress
- Open Access
This item is open access.
Condition assessment of underground infrastructures such as pipe networks is crucial for aging cities around the globe. The development of robotic technologies over the years led to the application of them in the condition assessment of pipe networks. However, there is a gap for accurate localization technology due to the 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 millimetre level localization accuracy. The system is capable of achieving millimetre level accuracy over 50m of length without an apparent estimation drift. The results were validated through experiments conducted using an extracted water pipe section.
Please use this identifier to cite or link to this item: