Development of embedded control system for untethered in-pipe inspection robot

In this paper, we present an embedded control system, which is developed for untethered in-pipe inspection robot to unpiggable natural gas pipelines. The design of the developed embedded control system and its verification for multiple platforms ensure that the developed embedded control system could be applied to various in-pipe inspection robots. In the future, we would improve the functionality, the reliability and durability of the developed embedded control system.