Study On Path Planning And Control System Of Wall-climbing Robot

This paper mainly study on the path planning and control system of wall-climbing robot that based on absorption. On the base of adequate study on the properties and control method of walking- robot, we designed a control system of sir~le-chip computer based on Distributed Control Theory. It works reliably and can firish controlling task to all moving actions very well, fulfill the function remanded. The Redundancy Control System of Double Vacuum Pump (RCSDVP) developed in this paper is feasible and has remarkable effect. The controlling software has the ability of predicting fault, so it improves the safety of wall-climbing robot greatly. This paper develops a moveable robot path-planning algorithm based on artificial neural network and it solves the problem of finding optimal path in complex environment with many obstacles. In addition, two optimizing methods are proposed, that is: revising path partially and path 搕ension? which do great help in optimizing path. Experiments shows the algorithm in this paper is very effective, it can get an optimal path very quickly and lay foundation for the action planning of intelligent climbing robot.