Fuzzy logic system for miniature climbing robots

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.