Research on individual wheel drive and control of mobile robot at bent pipeline

Xiaohua Zhang; Hongjun Chen

doi:10.1109/ETFA.2003.1248726

Research on individual wheel drive and control of mobile robot at bent pipeline

Xiaohua Zhang
, Hongjun Chen

School of Electrical Engineering and Automation

Harbin Institute of Technology

Research output: Contribution to journal › Conference article › peer-review

1 Scopus citations

Abstract

This paper studies the passing problem of a mobile robot with three group driving wheels in the bent pipeline, provides a visual servo control system, and discusses the prediction of robot moving parameters and a fuzzy control system. Considering the special problem in such pipeline robot, the paper mainly researches an individual wheel drive control algorithm. The research results show that the algorithm has a good adaptation under different initial moving condition and complex environment. The fuzzy controller not only makes the driving motor go back to normal status, but also drives the robot pass the bent pipe quickly and improves the system efficiency.

Original language	English
Article number	1248726
Pages (from-to)	391-395
Number of pages	5
Journal	IEEE International Conference on Emerging Technologies and Factory Automation, ETFA
Volume	2
Issue number	January
DOIs	https://doi.org/10.1109/ETFA.2003.1248726
State	Published - 2003
Event	2003 IEEE Conference on Emerging Technologies and Factory Automation, ETFA 2003 - Lisbon, Portugal Duration: 16 Sep 2003 → 19 Sep 2003

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10.1109/ETFA.2003.1248726

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title = "Research on individual wheel drive and control of mobile robot at bent pipeline",

abstract = "This paper studies the passing problem of a mobile robot with three group driving wheels in the bent pipeline, provides a visual servo control system, and discusses the prediction of robot moving parameters and a fuzzy control system. Considering the special problem in such pipeline robot, the paper mainly researches an individual wheel drive control algorithm. The research results show that the algorithm has a good adaptation under different initial moving condition and complex environment. The fuzzy controller not only makes the driving motor go back to normal status, but also drives the robot pass the bent pipe quickly and improves the system efficiency.",

author = "Xiaohua Zhang and Hongjun Chen",

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AB - This paper studies the passing problem of a mobile robot with three group driving wheels in the bent pipeline, provides a visual servo control system, and discusses the prediction of robot moving parameters and a fuzzy control system. Considering the special problem in such pipeline robot, the paper mainly researches an individual wheel drive control algorithm. The research results show that the algorithm has a good adaptation under different initial moving condition and complex environment. The fuzzy controller not only makes the driving motor go back to normal status, but also drives the robot pass the bent pipe quickly and improves the system efficiency.

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Y2 - 16 September 2003 through 19 September 2003

ER -

Research on individual wheel drive and control of mobile robot at bent pipeline

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