第二届复杂系统与工程大会 (CSEC2021)

100 / 2021-09-10 15:34:35

Robot navigation system using neural network algorithm based on FPGA

FPGA,neural network algorithm,fuzzy logic control,hexapod robot,navigation system

Aiming at the problem of autonomous navigation of a hexapod robot in an unknown environment, an autonomous navigation closed-loop control algorithm based on FPGA and neural network algorithm is designed, and the navigation control system of the hexapod robot is designed based on this algorithm. The algorithm combines the logic reasoning ability of fuzzy control and the learning and training ability of neural network, and introduces the closed-loop control method to optimize the algorithm. The designed control system is composed of four modules: information input, fuzzy neural network, instruction execution and information feedback. In view of the preliminary work foundation of the subject, the embedded control system of the hexapod bionic robot was designed and implemented, and the whole machine was tested. The test results show that the robot realizes the flexible control of single steering gear and coordinated control of multiple steering gears, and the robot walks stably, meeting expectations Claim.