Robot navigation in pipe networks

Robot navigation in pipe networks

Keywords: Robots, Navigation, Patents

Applicant: GMD GmbH, GermanyPatent number: US6,108,597Publication date: 22 August 2000Title: Autonomous Mobile Robot System forSensor-based and Map-based Navigation in Pipe Networks

An autonomous mobile robot system for sensor-based and map-based navigation in pipe networks is described. The robot system is completely autonomous, having no cable connection to the outside. Its navigation is based on the classification of pre-existing natural landmarks and can compensate for inaccurate robot system’s motion control, sensor information, and landmark classification.

The system comprises a vehicle for moving through the pipe network; a storage device for storing a topological map of landmarks; a route planner; a sensor capable of detecting the presence of landmarks that the vehicle passes; a classifier for classifying the detected landmarks; and an estimator for determining the vehicle’s current position.