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Authors: Simon Thompson 1 ; Masafumi Okajima 2 and Satoshi Kagami 1

Affiliations: 1 National Institute of Advanced Industrial Science and Technology, Japan ; 2 Kansai Electric Power Company and Inc., Japan

Keyword(s): Autonomous Navigation, Mobile Robot, Localisation, Inspection.

Related Ontology Subjects/Areas/Topics: Informatics in Control, Automation and Robotics ; Mobile Robots and Autonomous Systems ; Robotics and Automation

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.

CC BY-NC-ND 4.0

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Paper citation in several formats:
Thompson, S.; Okajima, M. and Kagami, S. (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 1: ICINCO; ISBN 978-989-8565-71-6; ISSN 2184-2809, SciTePress, pages 300-306. DOI: 10.5220/0004480503000306

@conference{icinco13,
author={Simon Thompson. and Masafumi Okajima. and Satoshi Kagami.},
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 1: ICINCO},
year={2013},
pages={300-306},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0004480503000306},
isbn={978-989-8565-71-6},
issn={2184-2809},
}

TY - CONF

JO - Proceedings of the 10th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO
TI - An Autonomous Mobile Inspection Robot for an Electric Power Sub-station
SN - 978-989-8565-71-6
IS - 2184-2809
AU - Thompson, S.
AU - Okajima, M.
AU - Kagami, S.
PY - 2013
SP - 300
EP - 306
DO - 10.5220/0004480503000306
PB - SciTePress

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