Fuzzy Control-based Three-Dimensional Motion Planning of an Amphibious Spherical Robot

Abstract

Attitude control adjustment of the Amphibious Spherical Robot (ASR) moving on-land is a relatively mature technology, but there are few related types of research on Multi- Degree-of-Freedom (MDOF) for underwater attitude control algorithm. This paper developed a novel structure to control the underwater motion posture and proposed a fuzzy algorithm to control the internal water tank level so that the robot can realize the function of floating and diving. The control algorithm is especially based on underwater environment and we also take a detailed mechanical analysis of the water tank structure, the direction of the robot can be adjusted in real-time according to the water level with the fuzzy control algorithm and the purpose of the three dimensional underwater movement can be achieved. At the end of this paper, the underwater experiment is performed to analyze the structure and algorithm to give the most reasonable suggestion for three-dimensional underwater movement.