5. Experiments and results analysis

#### 5.1. Experimental equipment

Husky A200 ™ robot (Figure 8 left panel) from Clearpath Robotics of Canada is adopted to simulate the near-real situation of PIG running in an inspected pipeline. The pipelinenavigation-related sensors include VTI IMU, odometer, and so on. Specifically, two odometers are used in the left and right rear wheels of the robot for reducing the velocity measurement

Figure 8. Husky A200™ robot and the experiment corridor.

error of micro-inertial sensors. In addition, the movement of this robot in straight line at the straight corridor can be controlled with remote controller, and the ground in the experiments is roughly horizontal (Figure 8 right panel), which are adopted to simulate the NHCs and to eliminate the slippage of wheels of the PIG.
