Modeling and Control of a Tracked Mobile Robot for Pipeline Inspection

Michał Ciszewski, Mariusz Giergiel, Tomasz Buratowski, Piotr Małka (Autoren)

Buch | Hardcover

XVI, 132 Seiten

2020 | 1st ed. 2020
Springer International Publishing (Verlag)
978-3-030-42714-6 (ISBN)

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This book describes the design, mathematical modeling, control system development and experimental validation of a versatile mobile pipe inspection robot. It also discusses a versatile robotic system for pipeline inspection, together with an original, adaptable tracked mobile robot featuring a patented motion unit. Pipeline inspection is a common field of application for mobile robots because the monitoring of inaccessible, long and narrow pipelines is a very difficult task for humans. The main design objective is to minimize the number of robots needed to inspect different types of horizontal and vertical pipelines, with both smooth and rough surfaces. The book includes extensive information on the various design phases, mathematical modeling, simulations and control system development. In closing, the prototype construction process and testing procedures are presented and supplemented with laboratory and field experiments.

Introduction.- Robotic inspection of pipelines.- Design of a pipeline inspection mobile robot with an active adaptation mechanism.- Mathematical modeling of the robot.- Simulations of the robot adaptation and motion in various environments.- Control system design and implementation.- Prototype of the pipe inspection robot.- Discussion, conclusions and future work.

Erscheinungsdatum	20.03.2020
Reihe/Serie	Mechanisms and Machine Science
Zusatzinfo	XVI, 132 p. 94 illus., 91 illus. in color.
Verlagsort	Cham
Sprache	englisch
Maße	155 x 235 mm
Gewicht	379 g
Themenwelt	Informatik ► Theorie / Studium ► Künstliche Intelligenz / Robotik
	Technik ► Elektrotechnik / Energietechnik
	Technik ► Maschinenbau
Schlagworte	control systems • Mechatronics • Mobile Robots • robot adaptation • Robotics • robot motion • SLAM • versatile pipe inspection
ISBN-10	3-030-42714-5 / 3030427145
ISBN-13	978-3-030-42714-6 / 9783030427146
Zustand	Neuware