Title :
Fuzzy logic system for miniature climbing robots
Author :
Xiao, Jun ; Xiao, Jizhong ; Xi, Ning
Author_Institution :
Coll. of Inf. Sci. & Eng., Northeastern Univ., Shenyang, China
Abstract :
This paper presents a fuzzy navigation and motion control system for miniature climbing robots. After the introduction of robot structure, a navigation approach based on a fuzzy multi-sensor data fusion scheme is proposed, which integrates task scheduling, sensing, planning and real-time execution in a unified task reference framework and makes the task synchronization much easier. For a highly nonlinear system as the miniature climbing robot, a fuzzy motion controller with gravity compensation is designed to reduce energy consumption and improve the robot performance at different situations. Experimental results prove the validity of the proposed method.
Keywords :
fuzzy control; fuzzy logic; mobile robots; motion control; navigation; sensor fusion; energy consumption; fuzzy logic system; fuzzy motion controller; fuzzy multisensor data fusion; fuzzy navigation; gravity compensation; miniature climbing robots; motion control; real-time execution; robot structure; task scheduling; task synchronization; Climbing robots; Fuzzy control; Fuzzy logic; Fuzzy systems; Motion control; Motion planning; Navigation; Nonlinear control systems; Nonlinear systems; Robot sensing systems;
Conference_Titel :
Control, Automation, Robotics and Vision Conference, 2004. ICARCV 2004 8th
Print_ISBN :
0-7803-8653-1
DOI :
10.1109/ICARCV.2004.1469487