Robot locomotion and localization on 3D complex-shaped structures

Abstract

Mobile inspection and maintenance robotics is a fast growing industrial market.The type of applications covered by these mobile robots is very broad.Robots are developed to inspect all kinds of pipes or pipelines infrastructures.They are also designed to inspect gas, petroleum or chemical storage tanks, bridges, subterranean mines or air ducts.Such robots also find their applications in power plants, for the inspection of the steam boilers to the power lines including steam turbines or generators.One of the main advantages of mobile robots is that they can reach locations inaccessible by humans because of size constraints, temperature, immersion in liquids or safety reasons.Robots also allow to decrease the inspection time and costs if operations like building scaffoldings, excavating, disassembling or moving cumbersome parts into workshops, can be avoided.Furthermore, storing the measurements of systematic inspection procedures improves the traceability of defects, the prediction of the constructions lifetime and allow to optimally plan their repairing.Repairing can even be done in situ if the robot is equipped with the appropriate tools.The variety of applications and their specificities have fostered the development of innovative locomotion concepts.The mobility of inspection robots has to be adapted to their environment, which may require to overcome obstacles or to climb on 3D structures built of different materials.In this framework, miniaturization and integration is often an issue because the robot may have to maneuver about in narrow spaces or to enter a structure through narrow openings.Because the robots have to operate in confined environments, localization is another key issue.The robot localization is a necessary feedback for the user remote controlling the robot or for autonomous control purposes.Therefore, inspection robots do not only have to carry inspection sensors, but also perception sensors for localization.This thesis addresses the following challenges, i.e. 3D locomotion, 3D localization and system integration, by presenting the design of a robot that is intended for inspecting power plants, especially the inner surface of steam iii