International Journal of Automation and Safety
Volume 2, Numéro 1, Pages 1-6
2024-06-30
Autonomous Obstacle Avoidance For A Hexapod Robot Using Proximity Sensors
Authors : Benyoucef Ahmed . Amrane Ali . Zennir Youcef . Belatreche Ammar .
Abstract
The hexapod walking robot serves as a versatile mobile platform, adept at navigating challenging terrains owing to its stable leg-based locomotion. Demonstrating high stability in both static and dynamic states, it effectively traverses terrains with obstacles. In this paper, we propose a method for obstacle avoidance utilizing proximity sensors, integrated with an Intelligent Walking Algorithm (IWA) for locomotion control, and a tripod gait algorithm for walking. Our simulations were conducted using the CoppeliaSim simulator with the Python interface. The results were highly satisfactory, as the robot consistently avoided obstacles with a remarkable combination of stability and precision.
Keywords
Hexapod ; Control ; Locomotion ; Algorithm ; Proximity sensor ; CoppeliaSim ; Simulation
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