TY - JOUR
T1 - Development and fuzzy control of a pipe inspection robot
AU - Huang, Han Pang
AU - Yan, Jiu Lou
AU - Cheng, Teng-Hu
PY - 2010/3
Y1 - 2010/3
N2 - A new pipe inspection robot, called the National Taiwan University (NTU) Navigator, is described in this paper. The NTU Navigator is lightweight, modularly designed, and easily manipulated and repaired. The robot consists of camera, steering, driving, and functional mechanism modules. Each module has its own control circuit and functions. In addition, a new stretch mechanism is designed and optimized in order to adapt the robot to pipes of various radii. The robot can be easily controlled using GUI on a PC. A stable and smooth fuzzy steering controller for operating inside the pipes is constructed. The stability and performance of the fuzzy controller are shown and compared with both the conventional proportionalintegralderivative controller and the flatness-based controller. Simulations and experiments further justify the performance of the NTU Navigator.
AB - A new pipe inspection robot, called the National Taiwan University (NTU) Navigator, is described in this paper. The NTU Navigator is lightweight, modularly designed, and easily manipulated and repaired. The robot consists of camera, steering, driving, and functional mechanism modules. Each module has its own control circuit and functions. In addition, a new stretch mechanism is designed and optimized in order to adapt the robot to pipes of various radii. The robot can be easily controlled using GUI on a PC. A stable and smooth fuzzy steering controller for operating inside the pipes is constructed. The stability and performance of the fuzzy controller are shown and compared with both the conventional proportionalintegralderivative controller and the flatness-based controller. Simulations and experiments further justify the performance of the NTU Navigator.
KW - Fuzzy control
KW - Modular design
KW - Pipe inspection robot
UR - http://www.scopus.com/inward/record.url?scp=76849107929&partnerID=8YFLogxK
U2 - 10.1109/TIE.2009.2031671
DO - 10.1109/TIE.2009.2031671
M3 - Article
AN - SCOPUS:76849107929
SN - 0278-0046
VL - 57
SP - 1088
EP - 1095
JO - IEEE Transactions on Industrial Electronics
JF - IEEE Transactions on Industrial Electronics
IS - 3
M1 - 5256303
ER -