A Localization and Navigation Method for an In-Pipe Robot in Water Distribution System Through Wireless Control Towards Long-Distance Inspection

In this paper, we propose an operation procedure for our previously developed in-pipe robotic system that is used water quality monitoring in distribution systems (WDS). The proposed synchronizes a wireless communication suitable harsh environments of soil, water, and rock with multi-phase control algorithm. new “wireless algorithm” facilitates “smart navigation” “near real-time data transmission” during robot WDS. smart navigation enables the to pass through different configurations pipeline long inspection capability battery which mounted on robot. To end, have divided into five steps assign specific motion phase task We describe each step algorithm associated paper. defines configuration type pre-programmed map given before system. includes some relay nodes perform bi-directional procedure. along localization toward long-distance