Efficient PID Controller based Hexapod Wall Following Robot

This paper presents a design of wall followingbehaviour for hexapod robot based on PID controller. PIDcontroller is proposed here because of its ability to controlmany cases of non-linear systems. In this case, we proposed aPID controller to improve the speed and stability of hexapodrobot movement while following the wall. In this paper, PIDcontroller is used to control the robot legs, by adjusting thevalue of swing angle during forward or backward movement tomaintain the distance between the robot and the wall. Theexperimental result was verified by implementing the proposedcontrol method into actual prototype of hexapod robot

Efficient PID Controller based Hexapod Wall Following Robot

This paper presents a design of wall following behaviour for hexapod robot based on PID controller. PID controller is proposed here because of its ability to control many cases of non-linear systems. In this case, we proposed a PID controller to improve the speed and stability of hexapod robot movement while following the wall. In this paper, PID controller is used to control the robot legs, by adjusting the value of swing angle during forward or backward movement to maintain the distance between the robot and the wall. The experimental result was verified by implementing the proposed control method into actual prototype of hexapod robot

Development of Hand-cleaning Service-oriented Autonomous Navigation Robot

[[abstract]]This paper proposes the development of an autonomous navigation robot with hand-cleaning service in indoor environments. To navigate in unknown environments and provide service, the robot is with several intelligent behaviors including wall-following, obstacle avoidance, autonomous navigation, and human detection. A laser-sensor-based approach is used in the wall-following and obstacle avoidance behavior controllers. A preliminary map-matching algorithm is applied in the localization strategy of autonomous navigation in which the robot can acquire the current location and then move toward to the target position. In this study a hand-cleaning mechanism is embedded into the robot and the service will activate while a human is recognized within the designated range. The overall robotic system is carried out using a two-wheeled driving mobile robot with LabVIEW as an integration tool. The experimental results demonstrate the practicable application of the proposed approach.[[conferencetype]]國際[[conferencedate]]20121014~20121017[[booktype]]電子版[[iscallforpapers]]Y[[conferencelocation]]Seoul, Kore

A Practical Fuzzy Controller with Q-learning Approach for the Path Tracking of a Walking-aid Robot

[[abstract]]This study tackles the path tracking problem of a prototype walking-aid (WAid) robot which features the human-robot interactive navigation. A practical fuzzy controller is proposed for the path tracking control under reinforcement learning ability. The inputs to the designed fuzzy controller are the error distance and the error angle between the current and the desired position and orientation, respectively. The controller outputs are the voltages applied to the left- and right-wheel motors. A heuristic fuzzy control with the Sugeno-type rules is then designed based on a model-free approach. The consequent part of each fuzzy control rule is designed with the aid of Q-learning approach. The design approach of the controller is presented in detail, and effectiveness of the controller is demonstrated by hardware implementation and experimental results under human-robot interaction environment. The results also show that the proposed path tracking control methods can be easily applied in various wheeled mobile robots.[[conferencetype]]國際[[conferencedate]]20140914~20140917[[booktype]]電子版[[iscallforpapers]]Y[[conferencelocation]]Nagoya, Japa