Position Estimation of In-Pipe Robot using Artificial Neural Network and Sensor Fusion

Water is vital for all living beings, especially a human. Automatic position detection of water leakage in pipelines very important to minimize the loss labour, time, money spent on exploration and excavation pipe inspection procedures. The main goal prevent loss. In this study, sensitive detection, crack frequency band external sphere studies an in-pipe robot prototype have performed. During precise estimation, classical EKF, stationary region location estimation using EHDE are performed with two different ANNs. way, online can be done hardware that has not sufficient computational power indoor robotic studies. addition, sound characteristics resulting from at hole size pressure intensity levels investigated. Finally, new sealing design devised three hydrophone sensor data recorded SD card simultaneously. It been found proposed ANN method performance work make similar IMU by 99%.