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Implementation of a hexapod mobile robot with a fuzzy controller

Published online by Cambridge University Press:  10 November 2005

Makoto Kern  and
Peng-Yung Woo
Makoto Kern
Affiliation:
Electrical Engineering Department, Northern Illinois University, Dekalb, IL 60115 (USA)
Peng-Yung Woo
Affiliation:
Electrical Engineering Department, Northern Illinois University, Dekalb, IL 60115 (USA)
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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.

Keywords

Mobile robotHexapodFuzzy controllerSensor data
Type
Research Article
Information
Robotica , Volume 23 , Issue 6 , November 2005 , pp. 681 - 688
Copyright
© 2005 Cambridge University Press

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