엘보 인식에 의한 배관로봇의 실시간 위치 추정 및 후처리 위치 측정 알고리즘

다국어 초록 (Multilingual Abstract)

Robots used for pipe inspection have been studied for a long time and many mobile mechanisms have been proposed to achieve inspection tasks within pipelines. Localization is an important factor for an inpipe robot to perform successful autonomous operation. However, sensors such as GPS and beacons cannot be used because of the unique characteristics of inpipe conditions. In this paper, an inpipe localization algorithm based on elbow detection is presented. By processing the projected marker images of laser pointers and the attitude and heading data from an IMU, the odometer module of the robot determines whether the robot is within a straight pipe or an elbow and minimizes the integration error in the orientation. In addition, an off-line positioning algorithm has been performed with forward and backward estimation and Procrustes analysis. The experimental environment has consisted of several straight pipes and elbows, and a map of the pipeline has been constructed as the result.

목차 (Table of Contents)

• Abstract
• Ⅰ. 서론
• Ⅱ. 주행정보 측정 시스템
• Ⅲ. 경로 추정 알고리즘
• Ⅳ. 실험 결과
• Ⅴ. 결론
• REFERENCES

참고문헌 (Reference)

1 M. Kolesnik, "Visual orientation in the sewer-adapta-tion to the environment" 16 (16): 856-859, 2002

2 Alex Townsend, "Procrustes Shape Analysis"

3 X. Li, "On optimizing autonomous pipeline inspection" 28 (28): 2012

4 노세곤, "In-pipe Robot Based on Selective Drive Mechanism" 제어·로봇·시스템학회 7 (7): 105-112, 2009

5 S. S. Park, "Development of the odom-etry system for the intelligent PIG" 222-227, 2001

6 D. J. Hyun, "Dead-reckoning sensor system and tracking algorithm for 3-d pipeline mapping" 20 (20): 213-223, 2010

7 S. G. Gon, "Automated technology for pipeline inspection using inpipe robot" 22 (22): 2002

8 J. Yu, "An off-line navi-gation of a geometry PIG using a modified nonlinear fixed-interval smoothing filter" 13 (13): 1403-1411, 2005

9 T. Viklands, "Algorithms for the weighted orthogonal procrustes problem and other least squares problems" Umea University 2006

10 A. Ahrary, "A laser scanner for land-mark detection with the sewer inspection robot KANTARO" 2006

11 P. V. Unnikrishnan, "A conical laser light-sectioning method for navigation of autonomous underwater vehicles for internal inspection of pipelines" 1-9, 2009