Title :
Path planning for mobile robots with leg/wheel hybrid locomotion system on outdoor terrain
Author :
Wang, Zhiying ; Ding, Xilun
Author_Institution :
Shenzhen Grad. Sch., Sch. of Mech. Eng. & Autom., Harbin Inst. of Technol., Shenzhen, China
Abstract :
As the increasing of the population of leg/wheel robots in field trip, a typical path planning method is needed. This paper proposed a multi-layer strategy based on fuzzy logic for a multi leg/wheel hybrid mobile robot. Three main fuzzy logic controllers are proposed for adjusting direction, velocity and selecting locomotion type. Simulations were made step by step in Matlab. Positive results proved that our method is a possible solution.
Keywords :
fuzzy control; legged locomotion; path planning; Matlab; direction adjustment; field trip; fuzzy logic controllers; leg-wheel hybrid locomotion system; locomotion type selection; mobile robots; multilayer strategy; outdoor terrain; path planning method; velocity adjustment; Acceleration; Legged locomotion; Trajectory; Wheels; Path planning; fuzzy logic control; leg-wheel robot;
Conference_Titel :
Intelligent Control and Automation (WCICA), 2012 10th World Congress on
Conference_Location :
Beijing
Print_ISBN :
978-1-4673-1397-1
DOI :
10.1109/WCICA.2012.6359084
