Abstract
In this study, a novel approach has been proposed to determine the module positions of a multi-joint inline inspection robot operating in a global positioning system (GPS) denied environment. The robot was equipped with an inertial navigation system (INS) to provide reference coordinates and utilised the Denavit-Hartenberg (D-H) method angular and linear locations. Each module of the robot is determined through transformation matrices relative to INS location. Based on the simulation results, it has been observed that the location of each robot module can be computed according to the reference INS module with a success rate of 98% to 99%.
Keywords
Modular design
Global Positioning System
Position (finance)
Pipeline (software)
Robot
Natural gas
Computer science
Environmental science
Marine engineering
Engineering
Artificial intelligence
Business
Waste management
Mechanical engineering
Telecommunications
Subject Areas
Soft Robotics and Applications
·Biomedical Engineering ·Physical Sciences
Robotics and Sensor-Based Localization
·Aerospace Engineering ·Physical Sciences
Robotic Path Planning Algorithms
·Computer Vision and Pattern Recognition ·Physical Sciences