000108579 001__ 108579
000108579 005__ 20230519145356.0
000108579 0247_ $$2doi$$a10.1016/j.robot.2020.103702
000108579 0248_ $$2sideral$$a122361
000108579 037__ $$aART-2021-122361
000108579 041__ $$aeng
000108579 100__ $$aRizzo, C.
000108579 245__ $$aAn alternative approach for robot localization inside pipes using RF spatial fadings
000108579 260__ $$c2021
000108579 5060_ $$aAccess copy available to the general public$$fUnrestricted
000108579 5203_ $$aAccurate robot localization represents a challenge inside pipes due to the particular conditions that characterize this type of environment. Outdoor techniques (GPS in particular) do not work at all inside metal pipes, while traditional indoor localization methods based on camera or laser sensors do not perform well mainly due to a lack of external illumination and distinctive features along pipes. Moreover, humidity and slippery surfaces make wheel odometry unreliable. In this paper, we estimate the localization of a robot along a pipe with an alternative Radio Frequency (RF) approach. We first analyze wireless propagation in metallic pipes and propose a series of setups that allow us to obtain periodic RF spatial fadings (a sort of standing wave periodic pattern), together with the influence of the antenna position and orientation over these fadings. Subsequently, we propose a discrete RF odometry-like method, by means of counting the fadings while traversing them. The transversal fading analysis (number of antennas and cross-section position) makes it possible to increase the resolution of this method. Lastly, the model of the signal is used in a continuous approach serving as an RF map. The proposed localization methods outperform our previous contributions in terms of resolution, accuracy, reliability and robustness. Experimental results demonstrate the effectiveness of the RF-based strategy without the need for a previously known map of the scenario or any substantial modification of the existing infrastructure.
000108579 536__ $$9info:eu-repo/grantAgreement/ES/DGA/T45-17R$$9info:eu-repo/grantAgreement/ES/MINECO-AEI-FEDER/DPI2016-76676-R
000108579 540__ $$9info:eu-repo/semantics/openAccess$$aby-nc-nd$$uhttp://creativecommons.org/licenses/by-nc-nd/3.0/es/
000108579 590__ $$a3.7$$b2021
000108579 592__ $$a1.202$$b2021
000108579 594__ $$a8.1$$b2021
000108579 591__ $$aROBOTICS$$b14 / 30 = 0.467$$c2021$$dQ2$$eT2
000108579 593__ $$aComputer Science Applications$$c2021$$dQ1
000108579 591__ $$aCOMPUTER SCIENCE, ARTIFICIAL INTELLIGENCE$$b67 / 146 = 0.459$$c2021$$dQ2$$eT2
000108579 593__ $$aSoftware$$c2021$$dQ1
000108579 591__ $$aAUTOMATION & CONTROL SYSTEMS$$b27 / 65 = 0.415$$c2021$$dQ2$$eT2
000108579 593__ $$aControl and Systems Engineering$$c2021$$dQ1
000108579 655_4 $$ainfo:eu-repo/semantics/article$$vinfo:eu-repo/semantics/acceptedVersion
000108579 700__ $$aSeco, T.
000108579 700__ $$aEspelosín, J.
000108579 700__ $$0(orcid)0000-0002-1568-1481$$aLera, F.$$uUniversidad de Zaragoza
000108579 700__ $$0(orcid)0000-0002-7148-4642$$aVillarroel, J.L.$$uUniversidad de Zaragoza
000108579 7102_ $$15007$$2520$$aUniversidad de Zaragoza$$bDpto. Informát.Ingenie.Sistms.$$cÁrea Ingen.Sistemas y Automát.
000108579 7102_ $$15008$$2800$$aUniversidad de Zaragoza$$bDpto. Ingeniería Electrón.Com.$$cÁrea Teoría Señal y Comunicac.
000108579 773__ $$g136 (2021), 103702 [20 pp]$$pRobot. auton. syst.$$tROBOTICS AND AUTONOMOUS SYSTEMS$$x0921-8890
000108579 8564_ $$s2193915$$uhttps://zaguan.unizar.es/record/108579/files/texto_completo.pdf$$yPostprint
000108579 8564_ $$s943879$$uhttps://zaguan.unizar.es/record/108579/files/texto_completo.jpg?subformat=icon$$xicon$$yPostprint
000108579 909CO $$ooai:zaguan.unizar.es:108579$$particulos$$pdriver
000108579 951__ $$a2023-05-18-13:32:36
000108579 980__ $$aARTICLE