Design and Implementation of a Control System for a Tunneling Robot

Abstract

The development of a tunneling robot for trenchless drilling has many different design aspects. Suitable hardware requires to be developed that can withstand the torques and forces that are generated by the drilling of the tunnel. A suitable route requires to be plotted that considers the maneuverability of the robot and avoids any obstacles or existing infrastructure. The control of such a system requires to be implemented in such a way that the system can follow the desired route while maintaining the required drill speed and avoid becoming stuck within the tunnel created.