Design and Development In-Pipe Sewer
Robot Based on Fuzzy Logic Control
Abstract: In-pipe sewer robots are mostly applied in city drain system in the industry where the tasks are not convenient to perform manually. As their study involves many disciplines and is one of the important development directions in the field of robot research, it has important research value and wide application foreground. This paper presents a self-adaptive wheeled drain robot, which composed mechanism and control system. The vehicle control and navigation technique is implemented using a two-mode controller consisting of PID and fuzzy logic control. A new self-adaptive control strategy is presented based on fuzzy neural network. Results of simulations and laboratory experiments are presented to demonstrate the ability of the control strategy. This paper provides a general method for in-pipe robot design and provides mechanism design theory basis for robot’s self-action.
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