A study of an autonomous mobile robot for a sewer inspection system |
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Authors: | Alireza Ahrary Amir AF Nassiraei Masumi Ishikawa |
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Affiliation: | (1) FAIS-Robotics Development Support Office, Collaboration Center 4F, 2-1 Hibikino, Wakamatsu, Kitakyushu 808-0135, Japan;(2) Graduate School of Life Science and Systems Engineering, Kyushu Institute of Technology, Kitakyushu, Japan |
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Abstract: | This article describes a prototype autonomous mobile robot, KANTARO, designed for inspecting sewer pipes. It is able to move
autonomously in 200–300-mm-diameter sewer pipes, to turn smoothly through 90° at a junction, and to go down a 5-cm step. KANTARO
carries all the resources required, such as a control unit, a camera, a 2D laser, and an IR sensor. Damage or abnormalities
in sewer pipes are detected based on recorded sensory data. KANTARO has demonstrated its effectiveness in inspection and in
autonomous navigation in a dry sewer test field at the FAIS–Robotics Development Support Office (FAIS–RDSO).
This work was presented in part at the 11th International Symposium on Artificial Life and Robotics, Oita, Japan, January
23–25, 2006 |
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Keywords: | Autonomous mobile robot Sewer inspection Sewer system Navigation Intelligent fault detection module |
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