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Fuzzy system approach for task planning and control of micro wall climbing robots

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4 Author(s)
Jun Xiao ; Sch. of Inf. Sci. & Eng., Northeastern Univ., China ; Jizhong Xiao ; Ning Xi ; Weihua Sheng

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.

Published in:

Robotics and Automation, 2004. Proceedings. ICRA '04. 2004 IEEE International Conference on  (Volume:5 )

Date of Conference:

26 April-1 May 2004