University of Twente Student Theses


Autonomous driving the pirate robot

Tersteeg, Stefan (2020) Autonomous driving the pirate robot.

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Abstract:Maintaining distribution networks used for gas or water takes much time and is expensive. These networks are mainly underground and are, therefore, hard to reach by humans. Also, pipe networks a couple meters above the ground have a reachability problem. Smart tooling can be one of the solutions to reduce the costs of maintaining such a network. Faculty Robotics and Mechatronics (RaM) is therefore developing an autonomous snake-like pipe inspection robot: the "Pipe Inspection Robot for AuTonomous Exploration" (PIRATE). Geerlings implemented a new control layer using sequences of motion primitives. Examples of motion primitives are to clamp, unclamp, drive, bend, or rotate the robot. This control layer sends commands to the robot to execute but does not receive feedback on them. In this project we design a preemptable task architecture to execute tasks with the PIRATE.
Item Type:Essay (Master)
Faculty:EEMCS: Electrical Engineering, Mathematics and Computer Science
Subject:50 technical science in general
Programme:Embedded Systems MSc (60331)
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