Simultaneous Localization And Mapping for Vibration-propulsion In-pipe Robot

Abstract

The number of aging sewer pipes is increasing every year, and there is a need for efficient inspection of these pipes. In order to solve this problem, we have developed a vibration-propulsion type in-pipe robot. In this paper, a method of constructing a three-dimensional pipe map based on forward kinematics by installing a 9-axis IMU and a laser ranging sensor in the rear of a robot.