Algorithms and Control System for an In-Line Robotic Complex for Diagnostics of Pipelines of Complex Geometry

Currently, an efficient method for pipeline inspection is in-pipe diagnostics using specialized robotic devices. There are many designs of in-pipe robots; however, they have several drawbacks: most notably, the inability to move through pipelines with complex geometries. Support-and-press in-pipe robots are the most efficient solution for maneuvering within sections of complex geometry. The aim of this research is the synthesis and development of algorithms and a control system for an in-pipe robotic complex, including the study of the kinematics of the design in sections with complex geometry. As a result, a control system structure was developed, consisting of several subsystems, including algorithms for controlling the translational movement of the in-pipe robotic complex inside the pipeline, specifically enabling movement along curved sections without loss of orientation.