Poster: Multi UVs-Based Narrow Sewer Inspection System - UVs Formation Control and Video Streaming

Abstract

In the maintenance of sewer pipes, camera-based inspection using a wired robot is helpful, but handling the long and heavy cable is a problem. Thus, a wireless camera-based sewer inspection system has been desired. However, the communication range of Wi-Fi in narrow pipes is very short, so multi-hop communication is required for long-range inspection. We propose a UVs (Unmanned Vehicles) formation control method and a data transmission scheduling method for realizing video streaming from the leader UV minimizing the adverse effect of the hidden terminal problem in a multi-hop network and route update caused by the mobility of the UVs.