abstract
- The development of algorithms to map trajectories with Pipeline Inspection Gauges (PIG) is an ongoing challenge due to the complexity involved in carrying out experimental tests. A scaled-down prototype can be a solution to this problem since, being significantly smaller, it allows for reducing the complexity of the tests and optimizing the data collection process. This work proposes a PIG robot prototype, describing the design and manufacturing process. Then, through a trajectory estimation algorithm, experimental tests were conducted, yielding a percentage of error of 35%. © 2024 IEEE.