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On Optimizing Autonomous Pipeline Inspection

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4 Author(s)
Xin Li ; Department of Electrical and Computer Engineering, and Center for Computation and Technology, Louisiana State University, Baton Rouge, USA ; Wuyi Yu ; Xiao Lin ; S. S. Iyengar

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.

Published in:

IEEE Transactions on Robotics  (Volume:28 ,  Issue: 1 )