Fuzzy Meta-Level Control of Snake Robots

In this paper, a new fuzzy logic controller (FLC) for navigation of a snake robot is proposed. This FLC is used as high level controller of a novel control architecture. The objective of this control architecture is to guide the snake robot from an initial configuration to a final position. Simple rules in dynamic equations of motion of 2D snake robot moving with serpentine gait are utilized to form a fuzzy inference system. Other parts of the control architecture are a PID as low level controller and a desired orientation generator unit. In order to verify capability of the proposed control architecture to guide snake robot from any initial configuration to desired final position, simulations are carried out using SimMechanic toolbox of MATLAB software.

Keywords:

snake robot , locomotion , fuzzy logic controller , serpentine gait