Abstract:Tank-inspection robotic crawlers often rely on localisation techniques such as dead reckoning to survey walls and surfaces. However, the robot position can drift over time when using these techniques, which therefore require precise calibration. This paper presents a novel tether-based system providing a real-time localisation reference tool to help calibrate and understand prevalent localisation technologies, inside uncluttered tanks. The assessed localisation technologies can subsequently be used in cluttere… Show more
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