Robotic Sewer Pipe Mapping Concept – Simplified 2D Case Preliminary Study

Sewer pipes mapping is a task of creating the virtual model of pipe system using either external means or internal sensor of a robot moving through the pipe.The paper introduces the concept of such mapping algorithm based on fusion of data given by internal sensors on multi-segment robot both on the segments themselves and the inter-segment sensors.The fusion is based on Extended Kalman Filter (EKF) and is shown for simplified 2D model.The simulation results for simplified model show good robustness against the noise.