A Robot Localization System Based on RF Fadings Using Particle Filters inside Pipes

Accurate robot localization inside pipes is a challenging task due to the special conditions of this type of environments. Humidity, slippery surfaces and mainly the lack of distinctive features make traditional robotics methods based on sensors such us cameras or lasers to perform erratically. In this paper, we present a robot localization system using a Particle Filter which takes advantage of the periodicity nature of spatial RF signal fadings that appears inside pipes under certain settings. Experimental results demonstrate the effectiveness of the proposed method in pipes.