Mobility platform for efficient downhole navigation of robotic device

A system comprising:

• a control apparatus having a controller for a user to enter a command;
• and
• a mobility platform capable of traveling in a downhole environment and including:
• a sensor module configured to detect a feature of the downhole environment;
• a computing module configured to receive the command and to determine a first width of an upcoming portion of the downhole environment from the feature;
• and
• a drive module having extendable and retractable tractor treads;
• wherein the computing module is further configured to:
• control the drive module to extend or retract the tractor treads to a second width less than a first width to fit the mobility platform in the upcoming portion of the downhole environment, and
• responsive to the received command, control the drive module to drive the tractor treads to move the mobility platform to and within the upcoming portion of the downhole environment.

A method, comprising:

• interconnecting a plurality of modules, the plurality of modules comprising at least a drive module, the interconnected modules defining a mobility platform;
• deploying the mobility platform into a downhole environment;
• detecting a feature of the downhole environment;
• determining a width of an upcoming portion of the downhole environment;
• moving a tractor tread from the drive module to fit the mobility platform into the upcoming portion;
• and
• advancing the mobility platform into the upcoming portion of the downhole environment.