[2512.17215] Research on Dead Reckoning Algorithm for Self-Propelled Pipeline Robots in Three-Dimensional Complex Pipelines

View PDF of the article “Research on dead reckoning algorithm for self-propelled pipeline robots in complex 3D pipelines”, by Yan Gao and 6 other authors

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a summary:In the field of gas pipeline locating, current pipeline locating methods mostly rely on pipeline locating tools. However, when faced with complex and curved pipeline scenarios, these approaches often fail due to issues such as tangled cables and insufficient equipment flexibility. To address this pain point, we designed a self-propelled pipeline robot. This robot can independently complete the site work of complex and curved pipelines in complex pipeline networks without external pulling. Regarding pipeline mapping technology, traditional optical mapping and laser mapping methods are easily affected by insufficient lighting conditions and features in the narrow space of pipelines, resulting in mapping, drift and spacing problems. In contrast, the pipeline positioning method that integrates inertial navigation and wheel odometers is less affected by pipeline environmental factors. Accordingly, this paper proposes a pipeline robot location method based on extended Kalman filtering (EKF). First, the body’s position angle is initially obtained through the inertial measurement unit (IMU). Then, the extended Kalman filtering algorithm is used to improve the accuracy of attitude angle estimation. Finally, the location of the pipeline is determined with high accuracy by combining wheel odometers. During the testing phase, the rolling wheels of the pipeline robot must be firmly fixed to the pipe wall to reduce slippage. However, too tight would reduce the flexibility of movement control due to excessive friction. Therefore, a balance must be achieved between the robot’s mobility and positioning accuracy. Experiments were conducted using a self-propelled pipeline robot in a rectangular loop pipeline, and the results demonstrated the effectiveness of the proposed dead reckoning algorithm.