Research on Walking Posture Control Technology of Mobile Robot Based on Fuzzy PID and PSO Algorithm

We have designed a mobile robot for internal detection of aircraft inlets. The robot is equipped with four sets of floating drive wheels. When the robot moves on the inner surface of an inlet with complex curved surfaces, the four sets of floating drive wheels can always maintain real-time contact with the inner surface of the inlet, thereby ensuring the stability of the robot's movement and avoiding body tilting. To enable the four sets of floating drive wheels to automatically adapt to the inner surface of the inlet, we first established the kinematic model of the robot. Then, based on the fuzzy PID algorithm, we ensured that the four sets of floating drive wheels of the robot make contact with the inlet surface. Secondly, using the PSO algorithm with the optimization goal of making the body attitude tend to be horizontal, we calculated and adjusted the floating angles of the four sets of floating drive wheels. Finally, the robot can walk on the inner surface of the inlet with the optimal body attitude. At the end, this paper designs an experimental scheme to verify the robot's walking attitude control algorithm.