Modeling and Control of a Tracked Mobile Robot for Pipeline Inspection

This book describes the design, mathematical modeling, control system development and experimental validation of a versatile mobile pipe inspection robot. It also discusses a versatile robotic system for pipeline inspection, together with an original, adaptable tracked mobile robot featuring a patented motion unit. Pipeline inspection is a common field of application for mobile robots because the monitoring of inaccessible, long and narrow pipelines is a very difficult task for humans. The main design objective is to minimize the number of robots needed to inspect different types of horizontal and vertical pipelines, with both smooth and rough surfaces. The book includes extensive information on the various design phases, mathematical modeling, simulations and control system development. In closing, the prototype construction process and testing procedures are presented and supplemented with laboratory and field experiments.

Examines a robot prototype that has been improved to provide augmented functionality in terms of its motion unit, communication, power supply, and control system Showcases applications of mobile robots for the supervision, penetration and identification of hazardous environments Provides state-of-the-art information on mobile inspection robots and pipeline inspection techniques

Inhalt
Introduction.- Robotic inspection of pipelines.- Design of a pipeline inspection mobile robot with an active adaptation mechanism.- Mathematical modeling of the robot.- Simulations of the robot adaptation and motion in various environments.- Control system design and implementation.- Prototype of the pipe inspection robot.- Discussion, conclusions and future work.