F. Kirchner et J. Hertzberg, A PROTOTYPE STUDY OF AN AUTONOMOUS ROBOT PLATFORM FOR SEWERAGE SYSTEMMAINTENANCE, AUTONOMOUS ROBOTS, 4(4), 1997, pp. 319-331
Citations number
10
Categorie Soggetti
Controlo Theory & Cybernetics","Computer Science Artificial Intelligence","Robotics & Automatic Control
The paper describes KURT, an autonomous robot platform prototype that
is able to navigate through a network of sewage pipes. KURT is a six-w
heeled vehicle; it has modular, layered hardware and control architect
ures. Its sensor configuration consists mainly of stationary and one f
lexible ultrasound transducers and of two inclinometers. In experiment
s run in a test sewerage system consisting of concrete pipes of 600 mm
diameter, it has proven its abilities to travel safely through straig
ht pipes, to recognize different types of pipe crossings, to turn at c
rossings, and to navigate from a given start point to arbitrary specif
ied goal points.