An Autonomous Mobile Inspection Robot for an Electric Power Sub-station

Simon Thompson, Masafumi Okajima, Satoshi Kagami

2013

Abstract

In this work, we describe the development of an outdoor, autonomous mobile robot that performs inspections of various facilities within an electric power sub-station. A segway-based robot was developed that can perform autonomous navigation along a given set of waypoints and perform inspection tasks (taking photographs at set locations). A retractable leg system was developed to allow the robot to enter/exit self-balancing mode and achieve a stable rest position from which to perform inspection tasks. The robot platform, localisation and control systems, and the inspection process are described, and a real world experiment consisting of navigation over a 1km path with 5 inspection points is reported. All inspection tasks were completed to the satisfaction of plant operators.

Paper Citation

in Harvard Style

Thompson S., Kagami S. and Okajima M. (2013). An Autonomous Mobile Inspection Robot for an Electric Power Sub-station . In Proceedings of the 10th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, ISBN 978-989-8565-71-6, pages 300-306. DOI: 10.5220/0004480503000306

in Bibtex Style

@conference{icinco13,
author={Simon Thompson and Satoshi Kagami and Masafumi Okajima},
title={An Autonomous Mobile Inspection Robot for an Electric Power Sub-station},
booktitle={Proceedings of the 10th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,},
year={2013},
pages={300-306},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0004480503000306},
isbn={978-989-8565-71-6},
}

in EndNote Style

TY - CONF
JO - Proceedings of the 10th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,
TI - An Autonomous Mobile Inspection Robot for an Electric Power Sub-station
SN - 978-989-8565-71-6
AU - Thompson S.
AU - Kagami S.
AU - Okajima M.
PY - 2013
SP - 300
EP - 306
DO - 10.5220/0004480503000306