Autonomous Navigation System of Hexapod Robot based on Fuzzy Neural Network

DOI

10.2991/icmmita-16.2016.159How to use a DOI?

Keywords

Hexapod robot; Fuzzy neural network; Closed-loop; Autonomous navigation.

Abstract

A closed-loop autonomous navigation system based on fuzzy neural network is proposed to deal with the autonomous navigation issue of hexapod robot in unknown environment. The closed-loop system is designed in order to optimize the output performance. The navigation algorithm is designed to combine fuzzy control with neural network. Fuzzy control is used to realize the ability of logical reasoning and neural network is conducive to learning and training ability. The ambient sensors are a GPS sensor, an electronic compass sensor and an ultrasonic sensor with sector scanning state. These sensors can complete the detection of the surrounding obstacles, the target course angle and the current course angle. The performance of the robot's autonomous navigation system is compared with the open-loop and closed-loop system based on fuzzy neural network in the simulation experiment, which demonstrates that walking time based on closed-loop system significantly declines compared to the open-loop system, meanwhile, the traveling speed also improves. In the way to the destination, the robot can safely and quickly bypass the obstacles without any redundant paths.

Copyright

© 2017, the Authors. Published by Atlantis Press.

Open Access

This is an open access article distributed under the CC BY-NC license (http://creativecommons.org/licenses/by-nc/4.0/).

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TY  - CONF
AU  - Shuang-hong Li
AU  - Ling-wen Kong
AU  - Qiao-ling Du
PY  - 2017/01
DA  - 2017/01
TI  - Autonomous Navigation System of Hexapod Robot based on Fuzzy Neural Network
BT  - Proceedings of the 2016 4th International Conference on Machinery, Materials and Information Technology Applications
PB  - Atlantis Press
SP  - 852
EP  - 857
SN  - 2352-538X
UR  - https://doi.org/10.2991/icmmita-16.2016.159
DO  - 10.2991/icmmita-16.2016.159
ID  - Li2017/01
ER  -