Scheduled Fuzzy Controllers for Omnidirectional Motion of an Autonomous Inspection Robot with Four Fully Steerable Magnetic Wheels

This work presents a scheduled fuzzy controllers for an autonomous inspection robot designed to work inside and outside spherical storage tanks. The robot is designed with four fully steerable magnetic wheels and a mechanical topology which promotes the correct adjustment of adhesion system. The proposed motion control works according with robots specific characteristics to ensure the quasi-omnidirectional motion over strong adhesion with tank surface and minimizes wheels kinematics constraints.