Obstacle Avoidance Behavior Design in Hexapod Robots using Finite State Machine

• Published in: 2023 IEEE 9th International Conference on Computing, Engineering and Design (ICCED) pp. 1 - 4
• Main Authors: Supratno, Setyo, Rohamid, Sucipto, Putra Wisnu Agung, Firasanti, Annisa, Adara, Reza Anggriyashati, Hamidi, Eki Ahmad Zaki
• Format: Conference Proceeding
• Language: English
• Published: IEEE 07-11-2023
• Subjects: Automata; Behavioral sciences; Collision avoidance; Finite State machin; Hexapod Robot; Navigation; Obstacle Avoidance; Robot sensing systems; Robots; Sensors
• ISSN: 2767-7826
• DOI: 10.1109/ICCED60214.2023.10425666

Hexapod robots are known for their stability and adaptability, which makes them particularly suitable for a wide range of applications. For a robot to successfully navigate its environment, it must have the ability to detect and avoid obstacles. This is where FSM comes into play to model robot behavior and decision-making processes. The output actions of FSM include forward action, reverse action, right turn action, and left turn action. This action allows the hexapod robot to avoid obstacles in its path by adjusting its movements. FSM is designed to transition between states based on sensory input, such as information from the robot's sensors, to determine the best action to be taken in response to the presence of an obstruction. The design of the FSM is described in detail, and its performance is evaluated in simulations. Results show that the effectively designed FSM allows the hexapod robot to avoid obstacles in its environment, while ensuring efficient and safe navigation. The journal concludes by discussing potential applications and future work that can be done in this field. Overall, this article highlights the importance of obstacle avoidance behavior for hexapod robots and the effectiveness of using Finite State Machine to model and control this behavior.