Research On Controlling System Of Crawling Robot Based On UMAC

Whether in the manufacturing industry or in the non-manufacturing industry, the intelligent robot is a hotspot at home and abroad. Path planning plays an important part in the research of the moving robot and it also become a hotspot at home and abroad. For the diversity and complexity of the environment, controlling system on robot has being an important aspect in the mobile robotic research field and also a crucial technology to make the robot intelligent.The paper briefly introduces the history of the mobile robotic development and summarizes different research aspects of the robot. The paper briefly introduces two parts of the moving robot, including mechanical part and electrical part. The control system is the core of the robot. The control system used the computer to control the UMAC by which to control the driver, then the driver control the DC motor, so that the robot will be able to complete the specific work.The paper studies a new type mobile robot, namely part-area coverage autonomous mobile robot. The core of this part is the part-area coverage path planning and the system of obstacle avoidance for this robot. For full-area coverage local path planning, the paper adopts fuzzy control algorithm. Fuzzy control algorithm having robustness of itself is combined with the behavior of apperceive-action based on biology, which realizes local path planning of the mobile robot. In the robot structure respect, This paper has further analyze the complex terrain and the moving robot's trait when the moving robot meets the complex terrain, and calculated resistance when the moving robot meet the various terrain, then it give the parameter relation when the two tracked robot is climbing the obstacle avoidance. It will have the vital significance in realizing complex control of the moving robot in the future.