Research on obstacle avoidance based on fuzzy control for inspection robot in oil pipeline

摘要

A new type of oil pipe inspection robot will be presented and the structure and function movement of which will be described in this paper, what's more, the obstacle avoidance control system of the robot will be researched in the paper according to the technological problems of the inspection robot in oil pipeline. The results of the simulation experiment in VC++ environment show that the obstacle avoidance control technology has good real-time, robustness and flexibility and the disadvantage that the environment model is difficult to be established in traditional strategy of obstacle avoidance control can be overcome with the strategy of avoiding obstruction of fuzzy control.