ファジィ論理を用いた小径管内移動ロボットの経路計画モデリングとシミュレーション

抄録

In this study, we propose a method of pipeline robot’s navigation based on fuzzy logic control (FLC) for passing through elbows or T-junctions. A CCD camera is used for locating the region of interest (ROI) in elbow or T-junction. Moreover, ROIs formed by reflection of LED light and the edge of pipe’s dark hole are considered as input variables in the FLC system. By analyzing outputs of the system, we can control the robot’s speed and yaw angle in real time. Compared with conventional studies on pipeline robot’s navigation method, the proposed method can be more precise and faster by using FLC algorithm and analyzing ROI with fewer sensors. Finally, we performed a simulation validation, and the results showed that the robot could adapt to known pipe environments and realize navigation in straight part, elbow, and junction of pipe.