Journal
IEEE ACCESS
Volume 8, Issue -, Pages 162516-162532Publisher
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/ACCESS.2020.3021126
Keywords
Inspection; Manipulators; Task analysis; Service robots; Mobile robots; Robot sensing systems; Aerial manipulation; inspection and maintenance; rolling platform; path planning
Categories
Funding
- HYbrid FLying-rolling with-snakE-aRm robot for contact inspection (HYFLIERS) [H2020-ICT-25-2017-779411]
- AERIAL COgnitive integrated multi-task Robotic system with Extended operation range and safety (AERIAL-CORE) - European Commission [H2020-2019-871479]
- Aerial Robotic Manipulation System with Terrestrial Locomotion to Increase Efficiency and Endurance in Maintenance Applications (ARM-EXTEND) [DPI2017-89790-R]
- Aerial Robots for Tunnel Inspection by Contact (ARTIC) - Spanish Ministerio de Economia, Industria, y Competitividad [RTI2018-102224-B-I00]
- FPI Program of the Spanish Ministerio de Ciencia, Innovacion y Universidades
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This paper considers the inspection by contact of long arrays of pipe structures in hard-to-reach places, typical of chemical plants or oil and gas industries, presenting the design of a hybrid rolling-aerial platform capable of landing and moving along the pipes without wasting energy in the propellers during the inspection. The presented robot overcomes the limitation in terms of operation time and positioning accuracy in the application of flying robots to industrial inspection and maintenance tasks. The robot consists of a hexa-rotor platform integrating a rolling base with velocity and direction control, and a 5-DOF (degree of freedom) robotic arm supported by a 1-DOF linear guide system that facilitates the deployment of the arm in the array of pipes to inspect their contour once the platform has landed. Given a set of points to be inspected in different arrays of pipes, the path of the multirotor and the rolling platform is planned with a hybrid RRT* (Rapidly-exploring Random Tree) based algorithm that minimizes the energy consumption. The performance of the system is evaluated in an illustrative outdoor scenario with two arrays of pipes, using a laser tracking system to measure the position of the robot from the ground control station.
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