A New Method for the Path Planning of an In-Pipe Inspection Robot

2003 ◽  
Author(s):  
Vincent Artigue ◽  
Madeleine Pascal
Keyword(s):  
Path Planning ◽  
Mobile Robot ◽  
Cylindrical Body ◽  
Robot Motion ◽  
Pipe Inspection ◽  
Curved Pipe ◽  
Prismatic Joint ◽  
Inspection Robot ◽  
Dc Motors ◽  
Locking Phenomena

A mobile robot designed for in-pipe inspection is considered. The robot consists of a cylindrical body with six links, each ended by a driven wheel. For each link, a spring connected to a jack (prismatic joint) is used to push the wheel against the wall of the pipe. The robot is actuated by DC motors applied on the wheels. The aim of the study is to define the trajectory of the robot in a curved pipe. Several experiments have shown that in this case, the robot may be stopped in some parts of the elbows. The path planning is performed assuming that the robot motion is very slow. An energetic method is used in order to detect the locking zones, and to define the best trajectories avoiding these locking phenomena.

Mobile Inspection Robot

2013 ◽  
Vol 319 ◽  
pp. 385-392 ◽  
Author(s):  
Michał Ciszewski ◽  
Tomasz Buratowski ◽  
Mariusz Giergiel ◽  
Krzysztof Kurc ◽  
Piotr Małka
Keyword(s):  
Control System ◽  
Mobile Robot ◽  
Cross Section ◽  
Design Process ◽  
Laboratory Tests ◽  
Robot Kinematics ◽  
Kinematics And Dynamics ◽  
Positioning System ◽  
Pipe Inspection ◽  
Inspection Robot

In this paper, the design of a tracked in-pipe inspection mobile robot with a flexible drive positioning system is presented. The robot would be able to operate in circular and rectangular pipes and ducts, oriented horizontally and vertically with cross section greater than 200 mm. The paper presents a complete design process of a virtual prototype, with usage of CAD/CAE software. Mathematical descriptions of the robot kinematics and dynamics that aim on development of a control system are presented. Laboratory tests of the utilized tracks are included. Performed tests proved conformity of the design with stated requirements, therefore a prototype will be manufactured basing on the project.

Path Planning Based on Warehousing Intelligent Inspection Robot in Internet of Things

2011 ◽  
Vol 267 ◽  
pp. 318-321 ◽  
Author(s):  
Lian Suo Wei ◽  
Yuan Guo ◽  
Xue Feng Dai
Keyword(s):  
Internet Of Things ◽  
Path Planning ◽  
Mobile Robot ◽  
Path Length ◽  
Fitness Function ◽  
The Internet ◽  
Vague Set ◽  
Inspection Robot ◽  
Planning Approach ◽  
The Internet Of Things

A path planning approach using combination of the Internet of Things and vague set of multi-objective decision-making was presented aiming at mobile robots in structured environments. The information of environment constrains and path length was integrated in the fitness function which was computed to sort scores of function values in order to realize path planning of mobile robot. Finally, it is proved by computer simulations that the algorithm is rational and can be used in real-time path planning of mobile robot.

scholarly journals Fuzzy Logic Controller sebagai Penentu Gerak Mobile Robot Pembasmi Hama

2020 ◽  
Vol 1 (01) ◽  
pp. 19-24
Author(s):  
Muhammad Ridho Kenawas ◽  
Pola Risma ◽  
Tresna Dewi ◽  
Selamet Muslimin ◽  
Yurni Oktarina
Keyword(s):  
Fuzzy Logic ◽  
Mobile Robot ◽  
High Speed ◽  
Fuzzy Logic Controller ◽  
Pulse Width Modulation ◽  
Robot Motion ◽  
Crop Failure ◽  
Driving System ◽  
Dc Motors ◽  
Autonomous Decision

A mobile robot is one of the solutions to overcome crop failure caused by chili pests. The mobile robot discussed in this paper is used to spray pesticide liquid into chili plant stems to prevent pests attack on the plants. This paper discusses the design of pesticide spraying robot motion with the application of Fuzzy Logic Controller. This robot employment is expected to reduce farmers' workload and to help to produce a good harvest.  Robot motions are divided into two conditions, which can be controlled by remote control as a controller (manual) and by means of a sensor (automatic). Mobile robot movements have a significant impact on navigation and the design of the driving system. Robot speed is controller by adjusting Pulse Width Modulation of DC motors attached to the robots' wheel, which set to be  90 for slow and 220  for high speed. The Fuzzy Logic Controller in this mobile robot functions as an autonomous decision-making driver to detect obstacles in front of the mobile robot and the targeted stems.

scholarly journals Use of 3D Simulation to Design Theoretical and Real Pipe Inspection Mobile Robot Model

2018 ◽  
Vol 12 (3) ◽  
pp. 232-236
Author(s):  
Leszek Baranowski ◽  
Michał Siwek
Keyword(s):  
Mobile Robot ◽  
Vision System ◽  
Geometrical Parameters ◽  
Functional Tests ◽  
Pipe Inspection ◽  
Sewer Pipes ◽  
3D Simulations ◽  
Inspection Robot ◽  
Real Robot ◽  
Inclined Pipe

Abstract The main aim of the paper is to present the process of design pipe inspection mobile robot by using 3D simulations. Next methods and processes of making designed components was described. Finally, functional tests of a constructed real robot model such as speed tests, inclined pipe test was carried out. The robot was specifically designed to inspect sewer pipelines. The mobile robot is equipped with a vision system. The structure of the pipe inspection robot allows adjustments to the geometrical parameters of the robot to suit the sewer pipes diameters by using in the construction of a pneumatic system with an actuator.

Design and Fabrication of an Autonomous Mobile Robot for Obstacle Avoidance and Path Planning in Partially Known Environment

2011 ◽  
Vol 403-408 ◽  
pp. 3917-3924
Author(s):  
Deep Sharma ◽  
S. K. Dwivedy
Keyword(s):  
Path Planning ◽  
Mobile Robot ◽  
Obstacle Avoidance ◽  
Low Cost ◽  
Dc Motor ◽  
Outdoor Environment ◽  
Autonomous Mobile Robot ◽  
Solar Panels ◽  
Dc Motors ◽  
Servo Controller

In this paper, an autonomous mobile robot has been designed and fabricated which can be used in both indoor and outdoor for industrial and household applications. Here using six servo motors and four DC motors with their controllers (servo controller and L293D DC Motor controller) the mobile robot can pick any object from its workspace and by avoiding collision it can place the object in the desired location. ASCII ultrasonic sensor and motion sensor are used along with ATmega 2560 microcontroller which is programmed to take the sensors output as its input and controls the dc motor and servo motors to pick and place objects and avoid obstacle during motion of the mobile robot. Here low-cost solar panels have been used to recharge the Li-ion batteries used for the motors and microcontroller in case of outdoor environment. The obstacle avoidance and path planning algorithms have been developed and a case study has been presented in this paper.

Dynamic Optimization of a Steerable Screw In-pipe Inspection Robot Using HJB and Turbine Installation

Robotica ◽  
2020 ◽  
Vol 38 (11) ◽  
pp. 2001-2022
Author(s):  
H. Tourajizadeh ◽  
V. Boomeri ◽  
M. Rezaei ◽  
A. Sedigh
Keyword(s):  
Energy Consumption ◽  
Path Planning ◽  
Degrees Of Freedom ◽  
Optimal Path ◽  
Turbine Blades ◽  
Pipe Inspection ◽  
Inspection Robot ◽  
Propulsion Force ◽  
Hamilton Jacobi Bellman ◽  
Power And Energy

SUMMARYIn this paper, two strategies are proposed to optimize the energy consumption of a new screw in-pipe inspection robot which is steerable. In the first method, optimization is performed using the optimal path planning and implementing the Hamilton–Jacobi–Bellman (HJB) method. Since the number of actuators is more than the number of degrees of freedom of the system for the proposed steerable case, it is possible to minimize the energy consumption by the aid of the dynamics of the system. In the second method, the mechanics of the robot is modified by installing some turbine blades through which the drag force of the pipeline fluid can be employed to decrease the required propulsion force of the robot. It is shown that using both of the mentioned improvements, that is, using HJB formulation for the steerable robot and installing the turbine blades can significantly save power and energy. However, it will be shown that for the latter case this improvement is extremely dependent on the alignment of the fluid stream direction with respect to the direction of the robot velocity, while this optimization is independent of this case for the former strategy. On the other hand, the path planning dictates a special pattern of speed functionality while for the robot equipped by blades, saving the energy is possible for any desired input path. The correctness of the modeling is verified by comparing the results of MATLAB and ADAMS, while the efficiency of the proposed optimization algorithms is checked by the aid of some analytic and comparative simulations.

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