Independent wheel drive and fuzzy control of mobile pipeline robot with vision

Considering a mobile pipeline robot with vision, this paper discusses the independent control of driving wheels of robot in the bent pipeline, and presents an electrical differential clutch concept in the control system in order to avoid machine locking. The paper studies the fuzzy control system design because of the complex pipeline environment and difficulties of modelling, and researches the calculation of the speed references of individual driving wheels according to the prediction of robot moving parameters, which are achieved by the vision processing and cognition on line. The research results show that the solution has a good adaptation under different initial moving speed and complex environment.