Title
On optimizing autonomous pipeline inspection
Document Type
Article
Publication Date
2-1-2012
Abstract
This paper studies the optimal inspection of autonomous robots in a complex pipeline system. We solve a 3-D region-guarding problem to suggest the necessary inspection spots. The proposed hierarchical integer linear programming optimization algorithm seeks the fewest spots necessary to cover the entire given 3-D region. Unlike most existing pipeline inspection systems that focus on designing mobility and control of the explore robots, this paper focuses on global planning of the thorough and automatic inspection of a complex environment. We demonstrate the efficacy of the computation framework using a simulated environment, where scanned pipelines and existing leaks, clogs, and deformation can be thoroughly detected by an autonomous prototype robot. © 2006 IEEE.
Publication Source (Journal or Book title)
IEEE Transactions on Robotics
First Page
223
Last Page
233
Recommended Citation
Li, X., Yu, W., Lin, X., & Iyengar, S. (2012). On optimizing autonomous pipeline inspection. IEEE Transactions on Robotics, 28 (1), 223-233. https://doi.org/10.1109/TRO.2011.2169619