Trajectory generation for a walking in-pipe robot moving through spatially curved pipes

Савин, Сергей; Jatsun, Sergey; Vorochaeva, L. Yu.

doi:10.1051/matecconf/201711302016

Cited by 20 publications

(3 citation statements)

References 18 publications

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“…The author uses a heuristic method, that is, the direction vector, to get the direction of the robot. The trajectory generation requires multiple iterations, and it is not necessary to provide an accurate direction for the algorithm at the initial stage [34]. Subsequently, Savin et al [35], studied the motion planning algorithm based on random search random tree, namely RRT algorithm.…”

Section: Walking Robotmentioning

confidence: 99%

Research Status and Development Trend of Oil and Gas Pipeline Robot

Song¹,

Luo²

2022

AJST

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The oil and gas pipeline will have defects such as wear, cracks, corrosion, aging and mechanical damage in the working process, which need to be detected and repaired in time. At present, there are various types of robots in the field of pipeline inspection, including wheeled robots, tracked robots, PIG robots, screw driven robots, walking robots, and inchworm robots. In this paper, the specifications, design and performance of different types of in pipe inspection robots are reviewed. Finally, a summary and prospect are made to provide a theoretical basis for the design and research of robots in this field.

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Section: Walking Robotmentioning

confidence: 99%

Research Status and Development Trend of Oil and Gas Pipeline Robot

Song¹,

Luo²

2022

AJST

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“…Одним из технических требований к профильной проходимости многозвенного внутритрубного робота является способность преодолевать изогнутые участки трубопровода. Учитывая большое число звеньев робота, пространственный характер и множество точек потенциального контактного взаимодействия элементов робота с трубопроводом и между собой, оценку профильной проходимости робота на этапе проектирования невозможно выполнить без проведения математического моделирования процесса его движения через изогнутые участки трубопровода с учетом силового взаимодействия движителей робота с трубопроводом [1][2][3][4][5][6][7][8][9][10][11][12][13]. Целесообразно для решения данной задачи использовать один из программных комплексов автоматизированного динамического анализа систем тел [14][15][16][17].…”

Section: Development Of the Multibody Model Of A Two-unit In-pipe Robot For Evaluation Of Its Capability To Move Through A Pipelineunclassified

Development of the Multibody Model of a Two-Unit in-Pipe Robot for Evaluation of Its Capability to Move Through A Pipeline

Komissarov¹,

Byakov²,

Kholodenko³

et al. 2021

IZVESTIYA SFedU. ENGINEERING SCIENCES

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Mnogofunktsional'nye kompleksy radiokontrolya i vyyavleniya kanalov utechki informatsii (perevod) [Multifunctional complexes for radio monitoring and detection of information leakage channels (translation)]. Moscow: Inostrannaya pechat'. Seriya "TCP sluzhb zarubezhnykh gosudarstv", VINITI [Foreign press. Series "TCP services of foreign states", VINITI], 2001, No. 12, pp. 35 37. 25. Priemniki preduprezhdeniya o radiolokatsionnom obluchenii (perevod) [Receivers of warning about radar exposure (translation)]. Moscow: Inostrannaya pechat'. Seriya "TCP sluzhb zarubezhnykh gosudarstv", VINITI [Foreign press. Series "TCP services of foreign states", VINITI], 2001, No. 2, pp. 14-20. Статью рекомендовал к опубликованию к.т.н. М.И. Дулин.

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“…These systems require complex control and path planning [22]. They also provide slower movement compared to wheeled and tracked robots.…”

Section: In-pipe Corneringmentioning

confidence: 99%

Elbow Detection in Pipes for Autonomous Navigation of Inspection Robots

Brown

Carrasco

Watson

et al. 2018

J Intell Robot Syst

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Nuclear decommissioning is a global challenge with high costs associated with it due to the hazardous environments created by radioactive materials. Most nuclear decommissioning sites contain significant amounts of pipework, the majority of which is uncharacterised with regards radioactive contamination. If there is any uncertainty as to the contamination status of a pipe, it must be treated as contaminated waste, which can lead to very high disposal costs. To overcome this challenge, an in-pipe autonomous robot for characterisation is being developed. One of the most significant mechatronic challenges with the development of such a robot is the detection of elbows in the unknown pipe networks to allow the robotic system to autonomously navigate around them. This paper presents a novel method of predicting the direction and radius of the corner using whisker-like sensors. Experiments have shown that the proposed system has a mean error of 4.69 • in the direction estimation.

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Trajectory generation for a walking in-pipe robot moving through spatially curved pipes

Cited by 20 publications

References 18 publications

Research Status and Development Trend of Oil and Gas Pipeline Robot

Research Status and Development Trend of Oil and Gas Pipeline Robot

Development of the Multibody Model of a Two-Unit in-Pipe Robot for Evaluation of Its Capability to Move Through A Pipeline

Elbow Detection in Pipes for Autonomous Navigation of Inspection Robots

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