The Research Of Wall Climbing Robot About Motor Control And Path Planning

The wall climbing robot is applied in many areas from the lab to the engineering. It is studied and used in a lot of industries such as cleaning, inspection, nuclear industries, petrochemical, construction industry, fire departments, shipbuilding and so on due to the character of working at vertical wall and high altitude. It is adopted because it can work in the dangerous space instead of people. It could notably enhance the success rate of task execution.The wall climbing in the paper is made based on the principle of negative pressure. It can stick to the vertical wall by the special foot. The design of mechanical joints makes use of under actuated structure. This design reduces the energy consumption of wall climbing robot, but increase the complexity of the wall climbing robot control. The paper studies the motor speed control first, and then utilize the fuzzy method to control the motor speed to raise the crawl speed of the wall climbing robot on the base of the trapezoidal plan velocity. After that the paper discusses the step planning of the wall climbing robot in view of Finite state machine. In the end the paper studies the path planning of the wall climbing robot. The paper searches for the optimal path of wall-climbing robot employing the ant colony algorithm in a fixed obstacle of Two-dimensional environment. The first condition is flat.The paper adopts Deadlock ease, Double pheromone update and Two random to improve convergence speed and searching capability of the ant colony algorithm. The second condition is vertical wall. The paper proposes a method of consumption based on minimum potential energy, and uses the fusion of the method and ant colony algorithm to plan the path of the wall climbing robot. The simulation demonstrates the correctness of the algorithm.