FPGA based Hexapod Robot Navigation using Arbitration of Fuzzy Logic Controlled Behaviors

For unstructured environments, multi-leg platforms such as hexapods, introduce better stability and adaptation during the moving in a more complex environment. The common hexapod robots, which are controlled by discrete conventional microcontrollers would require new chip replacement due to I/O constraint. With an FPGA, the user can scale design and include new functionality later in the design process without buying new additional hardware. In this paper, we introduce the hybrid architecture as a combination of FPGA and microcontroller design. The goal of this work is to extend context arbitration of a fuzzy behavior-based approach for hexapod robot navigation at the FPGA device. Verilog has been used to develop FLC on FPGA. The controller algorithm is developed and implemented on FPGA Altera Cyclone IV board. An experimental evaluation of hexapod autonomous navigation at a rough terrain presents advantages of this hierarchy approach for real-time robot embedded systems.