Detection and Control of Flexible Peristaltic Pipeline Robot in Elbow

Abstract

In order to make the peristaltic pipeline robot go through elbow quickly and efficiently, a multi-sensor information fusion algorithm based on relation matrix and fuzzy logic control is proposed. In this method, relation matrix is adopted to fuse the information from ultrasonic sensors and infrared sensors, while fuzzy neural network is employed to make walking strategy and remove obstructions. Simulation and platform testing are designed to verify the effectiveness of this method. The test results show that this method can significantly improve distance measuring accuracy and walking efficiency.