Attitude Control of a Robot in Sewer Pipe Based on Fuzzy Algorithm

被引：0

作者：

Yang Qingmei ^{[1
]}

Chi Xiaozhu ^{[2
]}

机构：

[1] Beijing Union Univ, Coll Automat, Beijing 100101, Peoples R China

[2] China Meteorol Adm, Meteorol Observat Ctr, Beijing 100081, Peoples R China

来源：

PROCEEDINGS OF THE 29TH CHINESE CONTROL CONFERENCE | 2010年

关键词：

Robot; Fuzzy Control; Sewer; Measurement System;

D O I：

暂无

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

Cleaning sewer pipes in time is important to the use of sewer pipes. Based on the analysis of status of sewer cleaning technology, a new robot used in sewer line to improve the efficiency of sewer cleaning is put forward in this paper. It is an autonomous mobile robot which can move in abominable sewer pipe. It can pull the cable at the same time. Attitude control of the in-sewer robot is a key to ensure that the robot sewer can move along the sewer pipe. To prevent the in-sewer robot from overturning in the sewer line, real time attitude measurement module is designed. Fuzzy control is a good real time control method. Therefore, Fuzzy control arithmetic is used in attitude control of the robot.

引用

页码：2645 / 2648

页数：4

共 4 条

[1]

Adria O., 2004, International Journal of Advanced Robotic Systems, V1, P33

[2]

KAWAGUCHI Y, 1995, IEEE INT CONF ROBOT, P857, DOI 10.1109/ROBOT.1995.525390

[3]

Kolesnik M., 2000, Proceedings 2000 ICRA. Millennium Conference. IEEE International Conference on Robotics and Automation. Symposia Proceedings (Cat. No.00CH37065), P1453, DOI 10.1109/ROBOT.2000.844802

[4]

Luo RC, 1999, ICRA '99: IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-4, PROCEEDINGS, P2014, DOI 10.1109/ROBOT.1999.770403

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