{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,5,15]],"date-time":"2026-05-15T18:28:55Z","timestamp":1778869735933,"version":"3.51.4"},"reference-count":19,"publisher":"MDPI AG","issue":"12","license":[{"start":{"date-parts":[[2020,12,6]],"date-time":"2020-12-06T00:00:00Z","timestamp":1607212800000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"DOI":"10.13039\/501100012226","name":"Fundamental Research Funds for the Central Universities","doi-asserted-by":"publisher","award":["2019ZRJC005"],"award-info":[{"award-number":["2019ZRJC005"]}],"id":[{"id":"10.13039\/501100012226","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Symmetry"],"abstract":"<jats:p>Based on the large-scale wall-pressing three-legged crawler pipeline inspection robot, our team proposed a cornering algorithm based on space constraints, that aims to better control the smooth operation of the pipeline robot in the pipeline. This algorithm is aimed at large robots that use an electric telescopic rod structure to replace the elastic structure on traditional small robots. The electric telescopic rod structure meets the large-scale weight change of the robot and provides sufficient supporting force. However, this structure also makes it difficult for the robot to automatically adapt to the change of pipe diameter and increases the difficulty of the robot\u2019s control. In order to solve this problem and more accurately control the operation of the robot during cornering, this paper analyzes the space constraints of the robot when turning, the optimization analysis of the telescopic rod expansion and the ratio of the speed of each crawler, obtaining a stable turning algorithm for pipeline robots. The algorithm guarantees that the robot can provide sufficient support in the bend pipeline, and that it has good stability and mobility.<\/jats:p>","DOI":"10.3390\/sym12122016","type":"journal-article","created":{"date-parts":[[2020,12,10]],"date-time":"2020-12-10T22:15:36Z","timestamp":1607638536000},"page":"2016","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":24,"title":["Cornering Algorithm for a Crawler In-Pipe Inspection Robot"],"prefix":"10.3390","volume":"12","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-4952-7300","authenticated-orcid":false,"given":"Liang","family":"Xu","sequence":"first","affiliation":[{"name":"School of Mechanical, Electrical and Information Engineering, Shandong University (Weihai), Weihai 264209, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-1567-6666","authenticated-orcid":false,"given":"Liang","family":"Zhang","sequence":"additional","affiliation":[{"name":"School of Mechanical, Electrical and Information Engineering, Shandong University (Weihai), Weihai 264209, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Jinzhou","family":"Zhao","sequence":"additional","affiliation":[{"name":"School of Mechanical, Electrical and Information Engineering, Shandong University (Weihai), Weihai 264209, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-3204-4935","authenticated-orcid":false,"given":"Kiwan","family":"Kim","sequence":"additional","affiliation":[{"name":"Department of Electrical &amp; Electronics Engineering, Chungnam State University, Cheongyang 33303, Korea"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"1968","published-online":{"date-parts":[[2020,12,6]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","first-page":"1207","DOI":"10.1109\/TASE.2015.2503283","article-title":"Kinematic Analysis and Motion Control of Wheeled Mobile Robots in Cylindrical Workspaces","volume":"13","author":"Song","year":"2015","journal-title":"IEEE Trans. Autom. Sci. Eng."},{"key":"ref_2","unstructured":"Jun, C., Deng, Z.Q., and Jiang, S.Y. (2004, January 22\u201326). Study of Locomotion Control Characteristics for Six Wheels Driven In-Pipe Robot. Proceedings of the IEEE International Conference on Robotics & Biomimetics, Shenyang, China."},{"key":"ref_3","doi-asserted-by":"crossref","unstructured":"Bandala, A.A., Maningo, J.M.Z., Fernando, A.H., Vicerra, R.R.P., Antonio, M.A.B., Diaz, J.A.I., Ligeralde, M., and Mascardo, P.A.R. (2019, January 14\u201316). Control and mechanical design of a multi-diameter tri-legged in-pipe traversing robot. Proceedings of the IEEE\/SICE International Symposium on System Integration, Paris, France.","DOI":"10.1109\/SII.2019.8700363"},{"key":"ref_4","doi-asserted-by":"crossref","unstructured":"Li, T., Ma, S., Li, B., Wang, M., and Wang, Y. (2015, January 2\u20135). Design and locomotion control strategy for a steerable in-pipe robot. 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Design and motion analysis of a flexible squirm pipe robot. Proceedings of the 2010 International Conference on Intelligent System Design and Engineering Application, Changsha, China.","DOI":"10.1109\/ISDEA.2010.437"},{"key":"ref_17","doi-asserted-by":"crossref","first-page":"5304","DOI":"10.1109\/TIE.2010.2095392","article-title":"Normal-force control for an in-pipe robot according to the inclination of pipelines","volume":"58","author":"Park","year":"2010","journal-title":"IEEE Trans. Ind. Electron."},{"key":"ref_18","doi-asserted-by":"crossref","first-page":"269","DOI":"10.1007\/s10846-017-0658-7","article-title":"Optimal control of screw in-pipe inspection robot with controllable pitch rate","volume":"90","author":"Tourajizadeh","year":"2018","journal-title":"J. Intell. Robot. Syst."},{"key":"ref_19","doi-asserted-by":"crossref","unstructured":"Zhao, W., Zhang, L., and Kim, J.-W. (2020). 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