Huang, Zhiqiang; He, Lei; Gao, ZhaoXin; Jia, Yingqi; … - In: Industrial Robot: the international journal of robotics … 47 (2019) 2, pp. 187-195
Purpose: This paper aims to introduce a new acoustic positioning method to solve the problem of space positioning for online inspection robots within the storage tank. Design/methodology/approach: The proposed positioning system comprises two acoustic signal emitters and two receivers. Emitters...