OPENTECHNICAL PUBLICATION
OT-2026-000001973

Motion control method for adaptive self-reconfigurable pipeline robot based on environmental perception

Published: 2026-09-15T19:09:53.587417Z
Permanent URL: https://opentechnical.org/p/OT-2026-000001973
Categories: Robotics & Automation > Robot Architectures

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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.

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OpenTechnical publication OT-2026-000001973
Published 2026-09-15T19:09:53.587417Z
https://opentechnical.org/p/OT-2026-000001973