A technique which facilitates cleaning of an interior of a pipe via access through a lateral hole in the pipe. The technique utilizes a control bar head coupled with a sweeper system which may be inserted into the pipe through the lateral hole. The sweeper system may comprise a plurality of shiftable sweeper heads which generally align for insertion through the lateral hole and then transition along the interior of the pipe to effectively sweep particles along the interior of the pipe. The sweeper system effectively clears an area of the interior of the pipe to facilitate a more effective seal with a subsequently inserted pipe isolation device.