Study And Design Inspection Robot With Ultrasonic Obstacle Avoidance Based On Fuzzy Control Algorithm

In order to reduce staff radiation, patrol robot for nuclear power plant plays a significant role in routine inspection. It is practical and necessary to design a patrol robot with remote control and obstacle avoidance intelligently based current robot and intelligence technology.This paper designs a caterpillar patrol robot. It can avoid obstacles intelligently based Fuzzy control algorithm and can be controlled remotely with communication system.The patrol robot can turn left and right by setting left and right wheels with different speed according its dynamic model. The control circuit hardware consists mainly of the STM32 minimal system module, the PWM driving circuit module,speed and obstacle position measurement, communication module and the power supply module.The obstacle avoidance based fuzzy algorithm is designed in this paper. The array with six ultrasonic sensors is used to measure position of obstacles which is the input of the fuzzy algorithm. After fuzzy inference the speed commands of the left and right wheels are calculated. The PID algorithm is used to control the robot.The experiment results showed the patrol robot could avoid the obstacles when there were one or more obstacles. The robot could also skirt around right angle obstacle area when it met the right angle obstacle.