University of Twente Student Theses


Increasing the Autonomy of the Pipe Inspection Robot PIRATE

Garza Morales, G.A. (2016) Increasing the Autonomy of the Pipe Inspection Robot PIRATE.

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Abstract:The Pipe Inspection Robot for AuTonomous Exploration, or for short PIRATE, is an inspection robot for gas pipes. It aims to determine the location of a leak more accurately. Ideally and in order to be usable in a commercial (industrial) environment a certain level of autonomy is required. The present thesis aims at increasing the current level of autonomy for the PIRATE by designing and implementing autonomous behaviors. At first an analysis of the possible layered control software structure is done. To demonstrate the potential of the design a simple mission that combines various Partially Autonomous Behaviors has been developed. For the implementation of the software framework the Robot Operating System environment is chosen. During the development, the transition conditions (guards) were experimentally defined. The results show that, in each of these situations, the proposed sequence and transition conditions effectively clamp the robot in the desired orientation. Apart from these experiments, the simple mission was tested and it successfully shows that different PAB classes could be combined to create more complex sequences or plans. Overall the present study successfully presents a suitable software framework for further development of other PABs in the Sequential layer, as well as potential for creating more complex missions by integrating them.
Item Type:Essay (Master)
Faculty:EEMCS: Electrical Engineering, Mathematics and Computer Science
Subject:53 electrotechnology
Programme:Electrical Engineering MSc (60353)
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