Implementation of a hexapod mobile robot with a fuzzy controller

Authors:
Makoto Kern;Peng-Yung Woo
Affiliations:
Electrical Engineering Department, Northern Illinois University, Dekalb, IL 60115 (USA);Electrical Engineering Department, Northern Illinois University, Dekalb, IL 60115 (USA)
Venue:
Robotica
Year:
2005

Citing 5
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Autonomous Robots

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Abstract

Fuzzy logic has features that are particular attractive in light of the problems posed by autonomous robot navigation. Fuzzy logic allows us to model different types of uncertainty and imprecision. In this paper, the implementation of a hexapod mobile robot with a fuzzy controller navigating in unknown environments is presented. The robot, MKIII, interprets input sensor data through the comparison of values in its fuzzy rule base and moves accordingly to avoid obstacles. Results of trial run experiments are presented.