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

TitleFuzzy system approach for task planning and control of micro wall climbing robots
Authors
Issue Date2004
Citation
Proceedings - IEEE International Conference on Robotics and Automation, 2004, v. 2004, n. 5, p. 5033-5038 How to Cite?
AbstractThis 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.
Persistent Identifierhttp://hdl.handle.net/10722/212847
ISSN

 

DC FieldValueLanguage
dc.contributor.authorXiao, Jun-
dc.contributor.authorXiao, Jizhong-
dc.contributor.authorXi, Ning-
dc.contributor.authorSheng, Weihua-
dc.date.accessioned2015-07-28T04:05:12Z-
dc.date.available2015-07-28T04:05:12Z-
dc.date.issued2004-
dc.identifier.citationProceedings - IEEE International Conference on Robotics and Automation, 2004, v. 2004, n. 5, p. 5033-5038-
dc.identifier.issn1050-4729-
dc.identifier.urihttp://hdl.handle.net/10722/212847-
dc.description.abstractThis 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.-
dc.languageeng-
dc.relation.ispartofProceedings - IEEE International Conference on Robotics and Automation-
dc.titleFuzzy system approach for task planning and control of micro wall climbing robots-
dc.typeConference_Paper-
dc.description.natureLink_to_subscribed_fulltext-
dc.identifier.scopuseid_2-s2.0-3042538788-
dc.identifier.volume2004-
dc.identifier.issue5-
dc.identifier.spage5033-
dc.identifier.epage5038-

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