Formation and Evolution Control of Pipeline Inspection Robot Queue

This paper is aimed at the pipeline inspection robot queue system, and establishes the system's behavior library, relay communication mode and control structure. Aiming at the formation and evolution of the pipeline inspection robot queue, the specific process and method of formation and evolution of pipeline inspection robot queue are presented; and the communication model of pipeline inspection robot queue system is established. The simulation results show that the formation and evolution method of the pipeline inspection robot queue has good applicability to the actual pipeline detection project, and provides a new idea for the multi-robot cooperation in the gas pipeline inspection.