University of Twente Student Theses


Self localization of PIRATE inside a partially structured environment

Mennink, T. (2010) Self localization of PIRATE inside a partially structured environment.

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Abstract:The PIRATE pipe inspection robot which is being developed at the control laboratory of the Twente University, is a robot who’s task it is to autonomously navigate through the low pressure gas distribution net in the Netherlands, and to find leaks or other damages. The task of autonomous navigation requires that the robot is able to map the inside of the pipe network, and to localize itself in the network. In this research, an algorithmhas been developed which is able to perform this task in several scenarios. To demonstrate this, a sensor vessel has been built, with the necessary sensors to accommodate this task. It is demonstrated that the sensor vessel can localize itself in a straight piece of pipe, and features like 90-degree bends and T-junctions are recognized by the algorithm. The sensor vessel contains a laser range finder for the detection of the features, a optical encoder attached to one of the wheels which measure travel through the pipe and a acceleration sensor to detect the roll angle of the vessel. A particle filter is chosen as the technique for the self-localization, while a grid map is used to detect features. Template matching is used to match templates generated from a simulated environment, to features mapped in the real environment.
Item Type:Essay (Master)
Faculty:EEMCS: Electrical Engineering, Mathematics and Computer Science
Subject:53 electrotechnology
Programme:Electrical Engineering MSc (60353)
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