Development and fuzzy control of a pipe inspection robot

Han Pang Huang*, Jiu Lou Yan, Teng-Hu Cheng

*Corresponding author for this work

Research output: Contribution to journalArticlepeer-review

52 Scopus citations


A new pipe inspection robot, called the National Taiwan University (NTU) Navigator, is described in this paper. The NTU Navigator is lightweight, modularly designed, and easily manipulated and repaired. The robot consists of camera, steering, driving, and functional mechanism modules. Each module has its own control circuit and functions. In addition, a new stretch mechanism is designed and optimized in order to adapt the robot to pipes of various radii. The robot can be easily controlled using GUI on a PC. A stable and smooth fuzzy steering controller for operating inside the pipes is constructed. The stability and performance of the fuzzy controller are shown and compared with both the conventional proportionalintegralderivative controller and the flatness-based controller. Simulations and experiments further justify the performance of the NTU Navigator.

Original languageEnglish
Article number5256303
Pages (from-to)1088-1095
Number of pages8
JournalIEEE Transactions on Industrial Electronics
Issue number3
StatePublished - 1 Mar 2010


  • Fuzzy control
  • Modular design
  • Pipe inspection robot

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