“…Studies show that these defects generally originate from the lack of heat input control and the formation of the poor upper weld bead. Aiming at resolving this problem, numerous investigations have been carried out to improve the quality of narrow gap welding, and different methods, such as angular swing arc [8][9][10], rotating arc [1,11,12], tandem GMAW [13][14][15], laser welding [16][17][18], hybrid laser-arc welding [19][20][21], and cable-type wire welding [6,22,23] have been developed. Although these methods have remarkable achievements, they have high requirements for welding equipment in welding long-distance pipelines in the field environment, which limits the development of automatic welding for pipelines in the field.…”