2021
DOI: 10.16984/saufenbilder.898072
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Position Estimation of In-Pipe Robot using Artificial Neural Network and Sensor Fusion

Abstract: Water is vital for all living beings, especially for a human. Automatic position detection of water leakage in water pipelines is very important to minimize the loss of labour, time, money spent on exploration and excavation in pipe inspection procedures. The main goal of detection is to prevent water loss. In this study, sensitive position detection, crack frequency band detection and external sphere studies of an in-pipe robot prototype have performed. During the precise position estimation, classical EKF, s… Show more

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