Autonomous navigation for a dynamical hexapod robot using fuzzy logic controller

摘要

Single guidance of autonomous robot tends to have limitation with certain conditions which limits the robotmovement. Meanwhile, not all surface areas are suitable for the line navigation method such as the application of thecoloured line on a high traffic area may cause the line to become dirty. The second method known as wall navigationalso has its drawback in which not all paths are located on the wall. This condition will lead in robot's false readingwhich misinterpreted it is as the obstacle. This paper proposes a combination of both methods into the hexapod robotwhich compensate the lack in each navigation method. The fuzzy logic controller is applied to create a smoothresponse rather than the logic programming. The fuzzy rules are embedded in the PIC16F877A. The wall and linefollowing method are done in separate rules but share the same output with either method triggered at one time. Theexperimental results verified the feasibility of the proposed method.