Research and modeling of gas pipeline inspection by mobile wheeled robot

The systems analysis of the gas pipeline inspection process using wheeled mobile robot for in-pipe defectoscopy is made. The problems (precedents) which mobile robot has to overcome in the in-pipe moving process are considered and classified; the structure of intellectual control robot system is defined on the base of this analysis. A set-theoretical model of the gas pipeline inspection process using wheeled mobile robot for in-pipe defectoscopy is developed. Physical robot parameters, physical and inner pipe-line parameters, parameters of obstacle and target objects are formalized. The control method is designed on the basis of fuzzy situational management. This method suits for difficult control task solution in variable conditions of gas pipeline with consideration of all possible precedents.