Research And Design On Gait Planning And Autonomous Navigation System Of Hexapod Robot

As a rising star in the field of robot research,hexapod robot has the advantages of strong carrying capacity,stable performance and remarkable adaptability in unstructured environment,and it has been widely used in many fields in recent years.In this paper,hexapod robot is selected as the research object.Based on the structural characteristics of hexapod robot,the gait planning strategy and autonomous navigation algorithm are studied,and the gait control system,autonomous navigation control system and remote control system are designed.The following aspects have been studied in this paper:1.The gait planning strategy of hexapod robot is studied.Several typical gait plannings are introduced in detail,which are tripod gait,quadrangular gait,pentagonal gait,fixed turn gait and free gait,respectively.These gait plannings are compared in terms of speed and stability,and then this paper selects the tripod gait for the flat terrain environment and the free gait for the rugged terrain environment as the walking gait of hexapod robot control system.2.The autonomous navigation algorithm of hexapod robot is studied.An autonomous navigation closed-loop control algorithm based on fuzzy neural network is proposed.The algorithm combines the logical reasoning ability of fuzzy control with the learning and training ability of neural network,and introduces the closed-loop control method to optimize the algorithm.3.The gait control system of hexapod robot is designed.The gait control system uses ARM7 core LPC2148 as the master chip,which consists of sensor layer,main control layer,driver layer and energy layer.The chip selection,circuit design and module function of each module are introduced in detail.4.The autonomous navigation control system of hexapod robot is designed.Based on the analysis of the navigation avoidance model of hexapod robot,an environmentalsensor composed of a sector scanning ultrasonic sensor,a GPS sensor and a compass sensor is designed to realize the perception of the surrounding environment information and location information of hexapod robot.According to the proposed autonomous navigation algorithm,a navigation control system is designed,which can realize the autonomous navigation control of hexapod robot in complex and unknown environment.5.The remote control system of hexapod robot is designed.The remote control system with capacitive touch screen and computer interface two kinds of display control way,which not only has a good human-computer interaction interface,but also realizes the real-time remote monitoring of robot status and the function of the robot executing instructions.6.The experiments of hexapod robot control system are carried out.The results of the experiments prove the feasibility and practicability of the gait control system,autonomous navigation control system and remote control system of the hexapod robot.