2909 Stabilization Control of Wheeled In-pipe Mobile Robot with only Posture Sensing
Details
This paper describes a stabilization control of an in-pipe mobile robot with posture angles information. The four-wheeled platform is synchronously driven by two different motors. Two inclinometers and a gyroscope are attached to the body to collect the posture angles. The position of the robot inside the pipe is estimated by a proposed algorithm. The method requires three posture angles and returns position of the robot, prominently the displacement in the transverse direction, which is later used as an instruction when comes to the control phase. The experiment is carried out in a test pipe of 500mm in diameter and has shown an excellent result in stabilizing the robot to run steadily through the bottom of a straight pipe.
