Fuzzy Controller Design by PSO for Hexapod Robot Locomotion Control
| Autor: | Zhi-Yuan Yang, 楊智元 |
|---|---|
| Rok vydání: | 2011 |
| Druh dokumentu: | 學位論文 ; thesis |
| Popis: | 99 This thesis proposes hexapod robot locomotion control using a particle swarm optimization (PSO) designed fuzzy controller (FC). The gait of each leg in the hexapod robot is controlled using a finite state machine so that the robot moves straight forward when the step size of each leg is set to be identical. This thesis proposes orientation control of the hexapod robot using an FC. Given the robot state, the FC controls the robot orientation by determining the step size of the middle leg in each side of the robot. All of the free parameters in the FC are learned through PSO, which avoids the time-consuming manual design task. The proposed PSO-design FC approach is applied two hexapod robot locomotion control problems. In the first problem, the robot learns object boundary-following behavior using simple reinforcement signals. The inputs of the FC are infrared distance sensor values. A simple learning environment is created for building this behavior without an exhaustive collection of input-output training pairs in advance. In the second problem, the FC controls the hexapod to follow a circle trajectory. Simulations are conducted to verify the effectiveness of the locomotion result. |
| Databáze: | Networked Digital Library of Theses & Dissertations |
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