A Path Tracking Method of a Wall-Climbing Robot towards Autonomous Inspection of Steel Box Girder

This paper proposes an autonomous inspection method for steel box girders that uses a wall-climbing robot instead of human workers. According to the 3D operating environment inside girder, path traverse positions be inspected. The comprises two alternate sections lane’s centerline and U-shaped steering. To realize robot’s tracking desired path, kinematics analysis based on different poses during was carried out. Corresponding algorithms were adopted ensure moves accurately efficiently. In addition, smooth transition sections, this adopts algorithm cooperatively controlling lifting mechanism wheel speeds achieve stable crossing 90° concave corner. Finally, experiment results show can steadily cross corner steer adjacent lane complete along path. using robot.