Tele-robotics for motion planning assistance to search pipeline defects

摘要

We present a novel robotised search procedure to find flaws in buried pipelines. The motion planning system is based on an electrochemical ground measuring technique called direct-current voltage gradient (DCVG), and we combine it with the use of a tele-robotics assistance system. Remote human-robot interaction (HRI) deploys a trade on/off of information to accomplish defects search (in semi-autonomous mode). Furthermore, in the autonomous, we formulated a novel non-linear potential field approach to give the robot capabilities to automatically perform the search. The whole system consists of a tele-system; a four-wheeled driven (4WD) mobile robot with instruments on-board; a DCVG-based motion planning model; and the human-robot interaction protocol. In this approach we provide a general mathematical solution, numerical simulations, and experimental teleoperation trades.