Robot Localization in Tunnels: Combining Discrete Features in a Pose Graph Framework

Author:

Seco TeresaORCID,Lázaro María T.ORCID,Espelosín JesúsORCID,Montano LuisORCID,Villarroel José L.ORCID

Abstract

Robot localization inside tunnels is a challenging task due to the special conditions of these environments. The GPS-denied nature of these scenarios, coupled with the low visibility, slippery and irregular surfaces, and lack of distinguishable visual and structural features, make traditional robotics methods based on cameras, lasers, or wheel encoders unreliable. Fortunately, tunnels provide other types of valuable information that can be used for localization purposes. On the one hand, radio frequency signal propagation in these types of scenarios shows a predictable periodic structure (periodic fadings) under certain settings, and on the other hand, tunnels present structural characteristics (e.g., galleries, emergency shelters) that must comply with safety regulations. The solution presented in this paper consists of detecting both types of features to be introduced as discrete sources of information in an alternative graph-based localization approach. The results obtained from experiments conducted in a real tunnel demonstrate the validity and suitability of the proposed system for inspection applications.

Publisher

MDPI AG

Subject

Electrical and Electronic Engineering,Biochemistry,Instrumentation,Atomic and Molecular Physics, and Optics,Analytical Chemistry

Reference38 articles.

1. 3-D Fadings Structure Analysis in Straight Tunnels Toward Communication, Localization, and Navigation

2. A Methodology for Localization in Tunnels Based on Periodic RF Signal Fadings

3. Graph-Based Robot Localization in Tunnels Using RF Fadings;Seco,2020

4. Directive 2004/54/EC of the european parliament and of the council of 29 April 2004 on minimum safety requirements for tunnels in the trans-european road network;Off. J. Eur. Union,2004

Cited by 4 articles. 订阅此论文施引文献 订阅此论文施引文献,注册后可以免费订阅5篇论文的施引文献,订阅后可以查看论文全部施引文献

1. Online Learning of Wheel Odometry Correction for Mobile Robots with Attention-based Neural Network;2023 IEEE 19th International Conference on Automation Science and Engineering (CASE);2023-08-26

2. Cone–hole docking mechanism for a modular reconfigurable mobile robot and its characteristic analysis;Industrial Robot: the international journal of robotics research and application;2023-03-15

3. Wave Propagation Modeling Techniques in Tunnel Environments: A Survey;IEEE Access;2023

4. Multi-Sensor Data Fusion Approach for Kinematic Quantities;Energies;2022-04-15

同舟云学术

1.学者识别学者识别

2.学术分析学术分析

3.人才评估人才评估

"同舟云学术"是以全球学者为主线,采集、加工和组织学术论文而形成的新型学术文献查询和分析系统,可以对全球学者进行文献检索和人才价值评估。用户可以通过关注某些学科领域的顶尖人物而持续追踪该领域的学科进展和研究前沿。经过近期的数据扩容,当前同舟云学术共收录了国内外主流学术期刊6万余种,收集的期刊论文及会议论文总量共计约1.5亿篇,并以每天添加12000余篇中外论文的速度递增。我们也可以为用户提供个性化、定制化的学者数据。欢迎来电咨询!咨询电话:010-8811{复制后删除}0370

www.globalauthorid.com

TOP

Copyright © 2019-2024 北京同舟云网络信息技术有限公司
京公网安备11010802033243号  京ICP备18003416号-3