Intelligent Control of a Small Climbing Robot

Ali Jebelli(1*), Mustapha C. E. Yagoub(2), Nafiseh Lotfi(3), Balbir S. Dhillon(4)

(1) University Technology Malaysia, Malaysia
(2) University Technology Malaysia, Malaysia
(3) University Technology Malaysia, Malaysia
(4) University Technology Malaysia, Malaysia
(*) Corresponding author


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Abstract


In this paper, a fuzzy logic-based control system is proposed, which lays emphasis on the functionality of the system rather than developing a mathematical model. Applied to a climbing robot, it can achieve precise motion control along with power consumption minimization and produce versatile behaviors based effective computational method in behavior-based control paradigm to implement robot behaviors. Experimental results prove the validity of the proposed methods. The proposed fuzzy logic-based control scheme is capable to automatically change the stickiness of hands and feet based on surface slope of unsupervised systems, thus keeping the control of the motion at a predefined stable level. The effectiveness of the proposed approach is demonstrated through experimental results.
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Keywords


Climbing Robot; Behavior-Based Control; Fuzzy Logic Controller; PID Control; Pulse Width Modulation

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