Scientific journal
Scientific Review. Technical science
ISSN 2500-0799
ПИ №ФС77-57440

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TECHNIQUE OF FUZZY SITUATIONAL CONTROL OF THE MOBILE ROBOT FOR GAS PIPELINES INSPECTION

Golubkin I.A. 1 Kochkin G.A. 1
1 The Astrakhan State Technical University
Designed control technique of mobile wheel robot for gas pipeline inspection is presented in this paper. We created control strategy of robotic device with scheme that three sets of wheeled leg mechanism are circumferentially spaced out. It was used fuzzy model «situation – control strategy – action», this model was modified. The model contains the set of master fuzzy situations, which describe all possible mobile robot states. It was described the sequence of actions for creation of fuzzy situation control of the mobile robot for gas pipeline inspection. The method of situational control includes three basic stages: reception of touch data, decision-making, delivery of operating influences. This method suits for decision of difficult control task in variable conditions of gas pipeline in consideration of possible precedents.