Abstract
Here we present the position control system of a swimming inspection robot for large underground concrete pipes that are partially filled with wastewater. The system’s hardware consists of a laser-based measurement system for position determination and a mechanical rudder to move the robot laterally within the pipe. To automatically adapt the position control system to different environment conditions, a self-tuning controller is presented.
We show how the necessary software components were implemented as part of a non real-time CORBA-based [1] distributed system. The controller has hybrid requirements regarding latency and interarrival times of computed position values. We describe the supporting data-flow architecture and the fault tolerance mechanism. This control application integrates real-time and non real-time components.
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Walter, C., Krüger, T., Strauß, G., Elkmann, N. (2009). Architectural Approach for the Implementation of a Position Control System for a Boat-Like Inspection Robot. In: Cetto, J.A., Ferrier, JL., Filipe, J. (eds) Informatics in Control, Automation and Robotics. Lecture Notes in Electrical Engineering, vol 37. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-00271-7_4
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DOI: https://doi.org/10.1007/978-3-642-00271-7_4
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