Multi-Sensor-Based Autonomous Control for a Shape-Shifting Robot

Several sensors including GPS,electronic compass,inclinometer and encoder are used to realize the autonomous motion control of a shape-shifting robot.Based on multi-sensor information fusion,an autonomous control method for the shape-shifting robot in the field environment is proposed according to the structure features of a small shape-shifting robot.The method mainly realizes the functions of autonomous shape-shifting,autonomous obstacle-avoiding and autonomous navigation for the robot in unstructured environments.Experiments on the prototype validate the effectiveness of the proposed method.