Towards long-distance inspection for in-pipe robots in water distribution systems with smart motion facilitated by particle filter and multi-phase motion controller

Incident in water distribution systems (WDS) cause loss and contamination that requires the utility managers to assess condition of pipelines a timely manner. However, are long access all parts it is chal-lenging task; current in-pipe robots have limitations short-distance inspection inability operate in-service networks. In this work, we improve design our previously developed robot analyze effect line pressure relative velocity on during operation with computational fluid dynamics (CFD) simulations. An extreme scenario for defined estimate minimum distance one turn battery charge 5400m. A multi-phase motion controller proposed ensures reliable at straight non-straight configurations pipeline also stabilized configuration zero junctions. We propose localization navigation method based particle filtering combine controller. method, map provided localizes itself method. Furthermore, navigates different by switching between phases algorithm performed filter algorithm. The experiment simulation results show along shows promising solution towards long-distance robots.