A study of an autonomous mobile robot for a sewer inspection system
A study of an autonomous mobile robot for a sewer inspection system
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DOI：
10.1007/s10015-006-0392-x
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发表时间：
2007-01-01
影响因子：
0.9
通讯作者：
Ishikawa, Masumi
中科院分区：
文献类型：
--
作者：
Ahrary, Alireza;Nassiraei, Amir;Ishikawa, Masumi
本文描述了一个自主移动机器人原型，KANTARO，设计用于检查下水道管道。它能够在直径200-300毫米的下水管道中自主移动，在交叉路口平稳地转弯90度，并向下走5厘米的台阶。KANTARO携带了所需的所有资源，如控制单元、摄像机、2D激光器和红外传感器。根据记录的传感数据检测下水道管道的损坏或异常。在fais机器人开发支持办公室（FAISRDSO）的干下水道测试中，KANTARO证明了其在检查和自主导航方面的有效性。
This article describes a prototype autonomous mobile robot, KANTARO, designed for inspecting sewer pipes. It is able to move autonomously in 200-300-mmdiameter sewer pipes, to turn smoothly through 90 degrees at a junction, and to go down a 5-cm step. KANTARO carries all the resources required, such as a control unit, a camera, a 2D laser, and an IR sensor. Damage or abnormalities in sewer pipes are detected based on recorded sensory data. KANTARO has demonstrated its effectiveness in inspection and in autonomous navigation in a dry sewer test field at the FAIS-Robotics Development Support Office (FAISRDSO).