Regression model explores speed dependence on control signals in pipe-based robots, suggesting improved motion planning.
The study aims to develop an empirical model for the dependence of longitudinal ż and angular θ ̇ rotational speeds along the pipe axis on a control action in the form of pulse-width modulation of the signal on the omni-wheel drives of a robotic device. The model is based on second-order rotatable planning. Data was obtained from tests in a DN150 pipe. The model enables planning of motion along a helical trajectory of a robotic device within a pipe.
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Затонский et al. (2026) studied this question.
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