The study aims to develop an empirical model for the dependence of longitudinal z and angular 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.
Затонский et al. (Fri,) studied this question.