Analysis and Discussion on Multi-robot Cooperative Detection in Complex Pipeline Environment

摘要

A brief introduction of current research concerning pipeline detection robots is presented, and problems arise when individual pipeline detection robots carry out detection tasks including the complexity of movement mechanism, inability in multi-tasking, limitation of detection range as well as large time consumption and low efficiency. In response to the demand of complicated underground gas pipeline inspection in cities, a new idea is proposed in gas pipeline detection through cooperative work of robots, based on the advantages of multi-robot system in space, mechanism, time, information and resources, of which the competitive edges in space, resources, mechanism and communications are elaborated and further analyzed. The pressing issues in the research concerning the cooperative detection of robots in complicated underground gas pipelines are further discussed in the paper.