Pipeline Inspection Robot

Anjali shaji, Anjana mani, Ferlinmary Jacob, Liyanda rode mary

Abstract


Drive control system plays a significant role in pipeline robot. In order to inspect the pipeline, an original mobile pipeline robot with crawler drive unit, power and monitor unit, central control unit is developed. Considering the limited space, a compact hardware system is designed with controllers. With made-to-order protocol for the crawl robot, an intelligent drive control system is developed. The implementation of the crawl robot demonstrates that the presented drive control scheme can meet the motion control requirements of the pipeline crawl robot.


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References


2017 IEEE 2nd International Conference on Automatic Control and Intelligent Systems (I2CACIS 2017), 21 October 2017, Kota Kinabalu, Sabah, Malaysia.

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International Conference on Robotics and Mechatronics October 26-28, 2016, Tehran, Iran.

G. Scaglia, E. Serrano, A. Rosales, P. Albertos, "Linear InterpolationBased Controller Design for Trajectory Tracking Under Uncertainties : Application to Mobile Robots,"Control Engineering Practice, pp.123-132, 2015.


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