A Novel UHF-RFID Dual Antenna Signals Combined with Gaussian Process and Particle Filter for In-pipe Robot Localization

Gunatilake, A; Kodagoda, S; Thiyagarajan, K

A Novel UHF-RFID Dual Antenna Signals Combined with Gaussian Process and Particle Filter for In-pipe Robot Localization

Gunatilake, A

Kodagoda, S

Thiyagarajan, K

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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

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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	2023-01-16T03:21:08Z
dc.date.available	2023-01-16T03:21:08Z
dc.date.issued	2022-03-31
dc.identifier.citation	IEEE Robotics and Automation Letters, 2022, 7, (3), pp. 6005-6011
dc.identifier.issn	2377-3766
dc.identifier.issn	2377-3766
dc.identifier.uri	http://hdl.handle.net/10453/164992
dc.description.abstract	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.
dc.language	English
dc.publisher	IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
dc.relation.ispartof	IEEE Robotics and Automation Letters
dc.relation.isbasedon	10.1109/LRA.2022.3163769
dc.rights	info:eu-repo/semantics/openAccess
dc.subject	0913 Mechanical Engineering
dc.title	A Novel UHF-RFID Dual Antenna Signals Combined with Gaussian Process and Particle Filter for In-pipe Robot Localization
dc.type	Journal Article
utslib.citation.volume	7
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
dc.date.updated	2023-01-16T03:21:07Z
pubs.issue	3
pubs.publication-status	Published
pubs.volume	7
utslib.citation.issue	3

Abstract:

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.

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http://hdl.handle.net/10453/164992