Intelligent control for wall climbing robot

Authors:
Jun Xiao;Hongguang Wang;Ning Xi
Affiliations:
College of Information Science and Engineering, Northeastern University, China;Shenyang Institute of Automation, Chinese academy of sciences, Shenyang, China;Michigan State University, Michigan State
Venue:
CCDC'09 Proceedings of the 21st annual international conference on Chinese Control and Decision Conference
Year:
2009

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Abstract

An intelligent control system is presented in this paper for a wall climbing robot. After the introduction of robot system design, a task reference method is proposed which is based on a fuzzy multi-sensor data fusion scheme. The method provides a novel mechanism to efficiently integrate task scheduling, action planning and motion control in a unified framework. A robot gait generation method is described which switches the robot locomotion between different motion modes with the help of a finite state machine driven by sensory information. Experimental results prove the validity of the proposed methods.