TY - GEN
T1 - Recognition of inside pipeline geometry by using PSD sensors for autonomous navigation
AU - Choi, Yun Seok
AU - Kim, Ho Moon
AU - Suh, Jung Seok
AU - Mun, Hyeong Min
AU - Yang, Seung Ung
AU - Park, Chan Min
AU - Choi, Hyouk Ryeol
N1 - Publisher Copyright:
© 2014 IEEE.
PY - 2014/10/31
Y1 - 2014/10/31
N2 - To deploy an untethered robot inside pipelines without any external assistance, it is prerequisite to recognize the pipeline elements such as straight pipeline, elbow, T-branch, and miter. This paper presents a method of recognizing pipeline elements using PSD(Position Sensitive Device) sensors. It is easy to implement, but help us collect accurate information necessary for navigating inside pipelines without heavy computation. The method is composed of three parts, which is the method for distinguishing T-branch and miter, searching the direction in T-branch and elbow, and determining the types of pipeline element, respectively. The design for the PSD sensor suite is presented and the algorithm for recognition procedures are addressed. The sensor suite is implemented in an in-pipe robot, called MRINSPECT VI, and its performances are validated.
AB - To deploy an untethered robot inside pipelines without any external assistance, it is prerequisite to recognize the pipeline elements such as straight pipeline, elbow, T-branch, and miter. This paper presents a method of recognizing pipeline elements using PSD(Position Sensitive Device) sensors. It is easy to implement, but help us collect accurate information necessary for navigating inside pipelines without heavy computation. The method is composed of three parts, which is the method for distinguishing T-branch and miter, searching the direction in T-branch and elbow, and determining the types of pipeline element, respectively. The design for the PSD sensor suite is presented and the algorithm for recognition procedures are addressed. The sensor suite is implemented in an in-pipe robot, called MRINSPECT VI, and its performances are validated.
UR - https://www.scopus.com/pages/publications/84911468876
U2 - 10.1109/IROS.2014.6943276
DO - 10.1109/IROS.2014.6943276
M3 - Conference contribution
AN - SCOPUS:84911468876
T3 - IEEE International Conference on Intelligent Robots and Systems
SP - 5024
EP - 5029
BT - IROS 2014 Conference Digest - IEEE/RSJ International Conference on Intelligent Robots and Systems
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2014
Y2 - 14 September 2014 through 18 September 2014
ER -