System and method including sensor array for characterization of conduits

A method comprising:

• moving a body assembly of a navigation apparatus through an interior cavity of a conduit, the body assembly comprising a plurality of pneumatic or artificial muscles that are configured to interact with a sidewall of the conduit and move the body assembly through the conduit, wherein the plurality of pneumatic or artificial muscles are independently actuated to steer the body assembly, wherein a tip is coupled to the body assembly, the tip including an outer surface defining a circumference;
• contacting the sidewall with at least one sensor of a sensor array, the sensor array including a plurality of sensors arranged circumferentially around the tip and positioned to extend radially outward from the outer surface of the tip, the sensor array positioned to interact with the sidewall of the conduit and provide signals representing the contact between the sidewall and the at least one sensor as the body assembly moves through the interior cavity;
• and
• determining, by a controller, a characteristic of the conduit based on the signals provided by the sensor array.