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Intelligent Control System of Fire-Extinguishing and Obstacle-Avoiding Hexapod Robot

机译：灭火避障六足机器人智能控制系统

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This hexapod fire extinguisher robot is constructed based on technological developments evolving very rapidly, especially in the field of robotics technology. The hexapod robot has become a big concern in the development of robotics technology with many existing contests of hexapod robot. This hexapod fire extinguisher robot is designed based on Fuzzy Mamdani Logic. The navigation of fire extinguisher hexapod robot is based on distance detection with ultrasonic sensor determining the movement of robot’s legs utilizing Fuzzy Logic. A fire extinguisher hexapod robot will explore a tunnel arena having several rooms created for the robot to explore. This hexapod robot uses Arduino as a microcontroller and uses 18 servo motors in which each foot requires 3 servo motors. Moreover, good navigation will be aimed by utilizing Fuzzy Logic in the hexapod robot design. The application of many rules on Fuzzy Logic makes the better navigation; furthermore, the results present the ultrasonic sensor having an average error of 1.256%, the Fuzzy Logic applied showing 0% error, and the overall success rate presenting approximately 80%.
机译：这款六脚灭火器机器人是根据飞速发展的技术发展而构建的，特别是在机器人技术领域。六足机器人已经成为机器人技术发展中的一大关注点，已有许多六足机器人竞赛。该六脚灭火器机器人是基于Fuzzy Mamdani Logic设计的。六足机器人灭火器的导航基于带超声波传感器的距离检测，该传感器利用模糊逻辑确定机器人腿部的运动。灭火器六脚架机器人将探索一个隧道舞台，该舞台上设有数个供机器人探索的房间。这个六脚机器人使用Arduino作为微控制器，并使用18个伺服电机，每个脚需要3个伺服电机。此外，在六脚机器人设计中利用模糊逻辑将实现良好的导航。许多规则在模糊逻辑上的应用使导航更好。此外，结果表明超声传感器的平均误差为1.256％，应用的模糊逻辑的误差为0％，总成功率约为80％。

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