Wireless pipeline robots often suffer from localization drift and position loss due to electromagnetic attenuation and shielding in complex pipeline configurations, which hinders accurate pipeline reconstruction. This paper proposes a trajectory reconstruction method based on Geometric Constraint–Long Short-Term Memory (GC-LSTM). First, a motor control system based on Field-Oriented Control (FOC) was developed for the proposed pipeline robot; second, trajectory errors are mitigated by exploiting pipeline geometric characteristics; third, a Lon...
