Design and Motion Planning of Indoor Pipeline Inspection Robot
Harish P.1, V. Venkateswarlu2
1Mr. Harish P, Department of VLSI and Embedded Systems, VTU Extension Center, UTL Technologies Ltd, Bangalore (Karnataka), India.
2Dr. V.Venkateswarlu, Department of VLSI Design and Embedded Systems, VTU Extension Center, UTL Technologies Ltd, Bangalore (Karnataka), India.
Manuscript received on 8 December 2013 | Revised Manuscript received on 18 December 2013 | Manuscript Published on 30 December 2013 | PP: 41-47 | Volume-3 Issue-7, December 2013 | Retrieval Number: G1381123713/13©BEIESP
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© The Authors. Blue Eyes Intelligence Engineering and Sciences Publication (BEIESP). This is an open access article under the CC-BY-NC-ND license (http://creativecommons.org/licenses/by-nc-nd/4.0/)
Abstract: This project deals with a design and motion planning algorithm of a caterpillar-based pipeline robot that can be used for inspection of 80–100-mm pipelines in an indoor pipeline environment. The robot system consists of a Robot body, a control system, a CMOS camera, an accelerometer, a temperature sensor, a ZigBee module. The robot module will be designed with the help of CAD tool. The control system consists of Atmega16 micro controller and Atmel studio IDE. The robot system uses a differential drive to steer the robot and spring loaded four-bar mechanisms to assure that the robot expands to have grip of the pipe walls. Unique features of this robot are the caterpillar wheel, the four-bar mechanism supports the well grip of wall, a simple and easy user interface.
Keywords: Caterpillar Wheel, Inspection Robot, ZigBee, Atmega.
Scope of the Article: Autonomous Robots