DocumentCode :
3035172
Title :
Fuzzy system approach for task planning and control of micro wall climbing robots
Author :
Xiao, Jun ; Xiao, Jizhong ; Xi, Ning ; Sheng, Weihua
Author_Institution :
Sch. of Inf. Sci. & Eng., Northeastern Univ., China
Volume :
5
fYear :
2004
fDate :
26 April-1 May 2004
Firstpage :
5033
Abstract :
This paper presents a fuzzy system approach that incorporates sensing, control and planning to enable micro wall climbing robots navigating in unstructured environments. Based on a fuzzy multi-sensor data fusion scheme, a novel strategy for integrating task scheduling, sensing, planning and real-time execution is proposed so that task scheduling, action planning and motion control can be treated in a unified framework, and the design of task synchronization becomes much easier. A hybrid method is employed to create robot´s gaits by switching the robot between continuous motion modes with the help of a finite state machine driven by the signals from robot sensors. For a highly non-linear system as the micro wall climbing robot, a fuzzy motion controller is designed to improve the robot´s performance at different situations. Experimental results prove the validity of the proposed method.
Keywords :
fuzzy control; fuzzy systems; microrobots; mobile robots; motion control; nonlinear control systems; sensor fusion; synchronisation; action planning; fuzzy motion controller; fuzzy multi-sensor data fusion scheme; fuzzy system; microwall climbing robot; motion control; nonlinear system; robot sensor; task scheduling; task synchronization; Automata; Climbing robots; Control systems; Fuzzy control; Fuzzy systems; Motion control; Motion planning; Navigation; Robot sensing systems; Strategic planning;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Robotics and Automation, 2004. Proceedings. ICRA '04. 2004 IEEE International Conference on
ISSN :
1050-4729
Print_ISBN :
0-7803-8232-3
Type :
conf
DOI :
10.1109/ROBOT.2004.1302515
Filename :
1302515
Link To Document :
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