Design of a mobile robotic system for servicing oil storage facilities

M.A. Shereuzhev, A.E. Ushakov, I.V. Semyannikov

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Abstract: In the oil industry, steel vertical tanks gradually become contaminated with sediments and deposits over time, leading to wall corrosion, loss of useful volume, and operational safety hazards. Various cleaning methods are employed, including manual, chemical, mechanical, hydrodynamic, and robotic approaches. However, non-robotic methods pose risks to maintenance personnel, require significant material and time resources, and may result in mechanical damage to tank walls. Existing robotic systems for oil tank cleaning ensure safe cleaning without personnel presence inside the tank but require constant monitoring and control by an operator. The development of a mobile autonomous robotic system will improve cleaning process efficiency, reduce technological equipment downtime, decrease operational costs, and minimize the human factor in the oil tank cleaning process.
Аim. This study is to design and perform computer simulation of a mobile robotic system intended for automated oil tank cleaning. To achieve this goal, the following tasks are completed: development of kinematic and dynamic models of the mobile robotic system with tracked chassis and two-link manipulator, simulation of chassis motion with differential drive and manipulator in the Simulink simulation environment, and evaluation of the developed system’s positioning accuracy. Computer simulation results showed that when moving along a typical square trajectory with a side length of 1 meter, the final positioning error was no more than 0.102 meters. Error accumulation is due to the absence of a closed-loop position control system in the current version. The achieved accuracy is satisfactory for performing technological tasks of oil tank cleaning and confirms the prospects of applying
autonomous robotic systems in this industry sector.
Conclusions. The manufactured prototype confirms the practical feasibility of the proposed technical solutions and the possibility of their implementation in industrial operation at oil and gas industry enterprises.

Keywords: robotic cleaning, oil storage tank, mobile robot, tracked platform, control system, mathematical modeling

For citation. Shereuzhev M.A., Ushakov A.E., Semyannikov I.V. Design of a mobile robotic system for servicing oil storage facilities. News of the Kabardino-Balkarian Scientific Center of RAS. 2025. Vol. 27. No. 6. Pp. 60–76. DOI: 10.35330/1991-6639-2025-27-6-60-76

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Information about the authors

Madin A. Shereuzhev, Candidate of Technical Sciences, Associate Professor, Department of Robotics and Mechatronics, Moscow State University of Technology “STANKIN”;
1, Vadkovsky lane, Moscow, 127055, Russia;
Associate Professor, Department of Robotic systems and Mechatronics, Bauman Moscow State Technical University;
5, build. 1, 2-nd Baumanskaya street, Moscow, 105005, Russia;
shereuzhev@gmail.com, ORCID: https://orcid.org/0000-0003-2352-992X, SPIN-code: 1734-9056
Alexander E. Ushakov, Postgraduate Student, Research Engineer, Department of Robotics and Mechatronics, Moscow State University of Technology “STANKIN”;
1, Vadkovsky lane, Moscow, 127055, Russia;
ushakov_ae@internet.ru, ORCID: https://orcid.org/0009-0006-1467-5043, SPIN-code: 5174-7378
Ivan V. Semyannikov, Master’s Degree, Engineer of Industrial Robotics Laboratory, Moscow State University of Technology “STANKIN”;
1, Vadkovsky lane, Moscow, 127055, Russia;
ivan.semyannickov@yandex.ru