Modeling and simulation of FLC-based navigation algorithm for small gas pipeline inspection robot

Wen Zhao*, Mitsuhiro Kamezaki, Kento Yoshida, Minoru Konno, Akihiko Onuki, Shigeki Sugano

*この研究の対応する著者

研究成果: Conference contribution

5 被引用数 (Scopus)

抄録

Pipeline robot are widely used since pipelines require to be inspected regularly for leakages caused by natural disaster, etc. Most robots which rely heavily on manual operation are incapable of self-navigation in pipe. Moreover incorrect operations would degrade the efficiency, and sometimes damage the robots especially when they pass through elbows or junctions. Some robots can realize navigation based on multi-sensor such as position sensitive detector and laser sensor, but navigation performance for such robots will be greatly influenced by the performance of these sensors, and space to install large number of sensors is limited. In this study, we propose an approach of pipeline robot's navigation based on fuzzy logic control (FLC) algorithm for passing through elbows or T-junctions. A CCD camera installed on the robot is used for locating region of interest (ROI) in elbow or junction. Moreover, ROIs formed by reflection of robot's LED light and edge of pipe's dark hole are considered as input variables in the FLC system. By analyzing system outputs, we can control the robot's speed and yaw angle in real time. Compared with conventional studies on pipeline robot's navigation method, the proposed method can be more precise and faster by using FLC algorithm and analyzing ROI with fewer sensors. Finally, we conducted a simulation validation, and the results showed that the robot was capable of adapting to known pipe environments and realizing navigation in straight part, elbow, and junction of pipe.

本文言語English
ホスト出版物のタイトルAIM 2018 - IEEE/ASME International Conference on Advanced Intelligent Mechatronics
出版社Institute of Electrical and Electronics Engineers Inc.
ページ912-917
ページ数6
ISBN(印刷版)9781538618547
DOI
出版ステータスPublished - 2018 8月 30
イベント2018 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2018 - Auckland, New Zealand
継続期間: 2018 7月 92018 7月 12

出版物シリーズ

名前IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM
2018-July

Other

Other2018 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2018
国/地域New Zealand
CityAuckland
Period18/7/918/7/12

ASJC Scopus subject areas

  • 電子工学および電気工学
  • 制御およびシステム工学
  • コンピュータ サイエンスの応用
  • ソフトウェア

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