Research on individual wheel drive and control of mobile robot at bent pipeline

This paper studies the passing problem of a mobile robot with three group driving wheels in the bent pipeline, provides a visual servo control system, and discusses the prediction of robot moving parameters and a fuzzy control system. Considering the special problem in such pipeline robot, the paper mainly researches an individual wheel drive control algorithm. The research results show that the algorithm has a good adaptation under different initial moving condition and complex environment. The fuzzy controller not only makes the driving motor go back to normal status, but also drives the robot pass the bent pipe quickly and improves the system efficiency.