Search

This paper presents the development of a steerable, wheel-type, in-pipe robot and its path planning. First, we show the construction of the robot and demonstrate its locomotion inside a pipe. The robot is composed of two wheel frames and an extendable arm which links the centers of the two wheel frames. The arm presses the frames against the interior wall of a pipe to support the robot. The wheels of the frames are steered independently so that the robot can turn within a small radius of rotation. Experimental results of the locomotion show that the steering control is effective for autonomous navigation to avoid obstacles and to enter the joint spaces of L- and T-shaped pipes. Generally, autonomous navigation is difficult for wheel-type robots because the steering angles required to travel along a desired path are not easily determined. In our previous work, the relationship between the steering angles and locomotion trajectories in a pipe has already been analyzed. Using this analysis, we propose the path planning in pipes. [ABSTRACT FROM AUTHOR]

A method of mobile robot steering control around pre-planned paths is presented. The system can maneuver accurately at low speeds by deriving control parameters as functions of vehicle velocity. The peak demand on the steering controller is reduced, by distributing steering curvature changes evenly over the extent of a maneuver. [ABSTRACT FROM AUTHOR]