Localization and Navigation of a Climbing Robot Inside a LPG Spherical Tank Based on Dual-LIDAR Scanning of Weld Beads

  • Ricardo S. da VeigaEmail author
  • Andre Schneider de Oliveira
  • Lucia Valeria Ramos de Arruda
  • Flavio Neves Junior
Part of the Studies in Computational Intelligence book series (SCI, volume 625)


Mobile robot localization is a classical problem in robotics and many solutions are discussed. This problem becomes more challenging in environments with few and/or none landmarks and poor illumination conditions. This article presents a novel solution to improve robot localization inside a LPG spherical tank by robot motion of detected weld beads. No external light source and no easily detectable landmarks are required. The weld beads are detected by filtering and processing techniques applied to raw signals from the LIDAR (Light Detection And Ranging) sensors. A specific classification technique—-SVM (Support Vector Machine)—is used to sort data between noises and weld beads. Odometry is determined according to robot motion in relation with the weld beads. The data fusion of this odometry with another measurements is performed through Extended Kalman Filter (EKF) to improve the robot localization. Lastly, this improved position is used as input to the autonomous navigation system, allowing the robot to travel through the entire surface to be inspected.


Mobile robots Localization LIDAR No landmarks Weld beads Data fusion Autonomous navigation 



This project was partially funded by Brazil’s National Counsel of Technological and Scientific Development (CNPq), Coordination for the Improvement of Higher Level People (CAPES) and the National Agency of Petroleum, Natural Gas and Biofuels (ANP) together with the Financier of Studies and Projects (FINEP) and Brazil’s Ministry of Science and Technology (MCT) through the ANPs Human Resources Program for the Petroleum and Gas Sector - PRH-ANP/MCT PRH10-UTFPR.


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Copyright information

© Springer International Publishing Switzerland 2016

Authors and Affiliations

  • Ricardo S. da Veiga
    • 1
    Email author
  • Andre Schneider de Oliveira
    • 1
  • Lucia Valeria Ramos de Arruda
    • 1
  • Flavio Neves Junior
    • 1
  1. 1.Automation and Advanced Control System Laboratory (LASCA)Federal University of Technology - Parana (UTFPR)CuritibaBrazil

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