Intelligent Control of a Small Climbing Robot

Ali Jebelli; Mustapha C. E. Yagoub; Nafiseh Lotfi; Balbir S. Dhillon

doi:10.15866/ireaco.v6i6.4163

Intelligent Control of a Small Climbing Robot

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

^(*) 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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