Development of mobile robot in confined space application

Atmospheric hazards that may be present in confined space poses serious threat to human while carrying out special task in the respective location. Areas that are considered as confined space are utility tunnel, boiler, storage tank, sewage lines, man holes and underground electrical fault. Currently, there is no specific technique to replace worker in performing tasks such as collecting air sample in the confined space for hazards monitoring. Alternatively, a mobile robot which integrated with CCD camera can be used to maneuver through the environment and monitor the environment in confined space simultaneously. Therefore, this paper presents the development of the mobile robot in confined space application. Fuzzy Logic Control is implemented in the mobile robot where it allows mobile robot to function manually or automatically in completing the tasks. Furthermore, the mobile robot is also built with four wheels skid-steering driving mechanism system which provides immediate and sharp turning for obstacle avoidance. Hence, it can be proven that the mobile robot is feasible in confined space application.