Autonomous robotic navigation and pipe inspection: A simulation approach

Journal Article · Sat Dec 31 04:00:00 EST 1994 · Transactions of the American Nuclear Society

OSTI ID:75912

Ioannou, D; Wang, S; Tulenko, J S

An important task for an autonomously functioning robot in the nuclear industry is pipe inspection in a nuclear power plant. A typical scenario for such a robot: The robot enters a highly radioactive area to perform several inspection and cleanup tasks. Because the robot is functioning in a radioactive environment, it must perform these tasks in a limited time. As much information as possible should be extracted in the shortest time (i.e., with the fewest number of snapshots). At the University of Florida`s Mobile Robotics for Hazardous Environments Laboratory, a project is under way to build an autonomous robot that will function in a go-stop-process-go manner in a nuclear environment. The system follows the spirit of Thayer et al., but the difference is that it functions autonomously. This paper discusses a simulation of this system.

• OSTI ID: 75912
• Report Number(s): CONF-940602--
• Journal Information: Transactions of the American Nuclear Society, Journal Name: Transactions of the American Nuclear Society Vol. 70; ISSN 0003-018X; ISSN TANSAO
• Country of Publication: United States
• Language: English

Related Subjects

42 ENGINEERING
INSPECTION
NUCLEAR POWER PLANTS
PATTERN RECOGNITION
PERFORMANCE
PIPES
ROBOTS
SHAPE