Modelling and Control of a Biologically Inspired Trenchless Drilling Device

Worrall, Kevin; Firstbrook, David; Flessa, Thaleia; McGookin, Euan; Thomson, Douglas; Harkness, Patrick

doi:10.1109/control.2018.8516859

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2019

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“…The high-level component is designed to have the desired path (the calculated drill path) as input and from this the position and orientation of the BADGER drive segments are calculated. At this time, Inverse Simulation [3,4,5,6] is being investigated as the high-level control algorithm. Inverse Simulation is out with the scope of this paper and the reader is directed to [3,4,5] for further information.…”

Section: Control Of Kitmentioning

confidence: 99%

Design and Implementation of a Control System for a Tunneling Robot

Worrall

Houston²,

Cebecauer

et al. 2019

2019 IEEE SmartWorld, Ubiquitous Intelligence &Amp; Computing, Advanced &Amp; Trusted Computing, Scalable Computing &Amp; Commu

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The development of a tunneling robot for trenchless drilling has many different design aspects. Suitable hardware requires to be developed that can withstand the torques and forces that are generated by the drilling of the tunnel. A suitable route requires to be plotted that considers the maneuverability of the robot and avoids any obstacles or existing infrastructure. The control of such a system requires to be implemented in such a way that the system can follow the desired route while maintaining the required drill speed and avoid becoming stuck within the tunnel created.

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