Research on obstacle avoidance based on fuzzy control for inspection robot in oil pipeline

Author

Feng, Ding ; Liu, Jin ; Li, Shouyong ; Wang, Peng ; Zhou, Kui ; Huang, Chaobin

Author_Institution

Sch. of Mech. Eng., Yangtze Univ., Jingzhou, China

fYear

2009

fDate

22-24 June 2009

Firstpage

189

Lastpage

191

Abstract

A new type of oil pipe inspection robot will be presented and the structure and function movement of which will be described in this paper, what´s more, the obstacle avoidance control system of the robot will be researched in the paper according to the technological problems of the inspection robot in oil pipeline. The results of the simulation experiment in VC++ environment show that the obstacle avoidance control technology has good real-time, robustness and flexibility and the disadvantage that the environment model is difficult to be established in traditional strategy of obstacle avoidance control can be overcome with the strategy of avoiding obstruction of fuzzy control.

Keywords

collision avoidance; inspection; mobile robots; pipelines; service robots; VC++ environment; fuzzy control; obstacle avoidance control system; oil pipe inspection robot; oil pipeline; Control systems; Fuzzy control; Impellers; Inspection; Petroleum; Pipelines; Robot sensing systems; Robotics and automation; Sensor arrays; Sensor systems;

fLanguage

English

Publisher

ieee

Conference_Titel

Information and Automation, 2009. ICIA '09. International Conference on

Conference_Location

Zhuhai, Macau

Print_ISBN

978-1-4244-3607-1

Electronic_ISBN

978-1-4244-3608-8

Type

conf

DOI

10.1109/ICINFA.2009.5204918

Filename

5204918