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ICRA
2002
IEEE

Strategy for Navigation Inside Pipelines with Differential-Drive Inpipe Robot

9 years 4 months ago
Strategy for Navigation Inside Pipelines with Differential-Drive Inpipe Robot
In the previous reports, we presented a miniature inpipe robot called MRINSPECT (Multifunctional Robotic crawler for INpipe inSPECTion) IV which has been developed for the inspection of urban gas pipelines with a nominal 4-inch inside diameter. Its steering capability with three-dimensional differentially driven method provides the outstanding mobility for navigation and the new mechanism for steering can easily adjust itself to most of pipelines or fitting, in which other former inpipe robots can hardly travel as ever. In this paper, we present the strategy and the critical points established on using the speed modulation for the navigation in elbows and branches. The analysis for the navigation inside fittings and curved pipelines is given in detail and it is addressed how to compute the speeds of the independent wheels for the differential drive in elbows and branches. Existing robots generally travel along horizontal pipelines smoothly, but it is rarely easy to move along bent or ...
Se-gon Roh, Hyoukryeol Choi
Added 15 Jul 2010
Updated 15 Jul 2010
Type Conference
Year 2002
Where ICRA
Authors Se-gon Roh, Hyoukryeol Choi
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