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In this work, we describe the development of an outdoor, autonomous mobile robot that performs inspections of various facilities within an electric power sub-station. A segway-based robot was developed that can perform autonomous navigation along a given set of waypoints and perform inspection tasks (taking photographs at set locations). A retractable leg system was developed to allow the robot to enter/exit self-balancing mode and achieve a stable rest position from which to perform inspection tasks. The robot platform, localisation and control systems, and the inspection process are described, and a real world experiment consisting of navigation over a 1km path with 5 inspection points is reported. All inspection tasks were completed to the satisfaction

An Autonomous Mobile Inspection Robot for an Electric Power Sub-station