Research on the real time obstacle avoidance control technology of biologically inspired hexapod robot

摘要

In order to meet the demand of the biologically inspired hexapod robot’s task and its working environment, this paper proposes the distribution of the compound sensing system based on multiple infrared sensors and ultrasonic sensors, which enlarges the robot’s sensing range and eliminates the interference. The authors use the fuzzy control obstacle avoidance strategy, which overcomes the disadvantage that the unstructured environment is difficult to model and improves the system’s robustness. The hardware test experiments results show that the designed sensing and control system can meet the real time demand. Using the Mobotsim software, the authors finished the simulation experiment. The experiment results show that this obstacle avoidance control method has perfect real-time performance, robustness and flexibility, not only to the immovable obstacles but also to the movable obstacles, which establishes the foundation to realize the biologically inspired hexapod robot’s intelligent control.