{
  "abstract": "A motion control method for an adaptive self-reconfigurable pipeline robot based on environmental perception includes: acquiring internal images of the pipeline for scene recognition, segmenting planar surfaces and curved surfaces in the images according to recognition results, and extracting boundary lines of the pipeline; calculating a straight-pipe width, a bent-pipe curvature, a slope angle, and a step height to analyze passability of the robot; designing a path planner and a swing-arm planner to generate a reference trajectory and a swing-arm angle sequence of the robot, performing smoothing, and inputting the reference trajectory and the swing-arm angle sequence into a model predictive control (MPC) motion controller; estimating a position and state of the robot through an Error State Kalman Filter (ESKF) algorithm, and inputting estimation results and collision warning signals into the MPC motion controller; and finally outputting a signal for control of a motor and a swing-arm motor.",
  "assignees": [
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  "authors": [
    "Ji Qinjie",
    "LI HUIJUN",
    "MIAO TIANYUAN",
    "SONG AIGUO",
    "WANG SHAOHU"
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  "title": "Motion control method for adaptive self-reconfigurable pipeline robot based on environmental perception",
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