A FACL controller architecture for a grasping snake robot

In this paper, a distributed intelligent fuzzy learning controller architecture is developed for a snake robot to avoid obstacles while reaching a target, in a dynamic environment. Moreover, in order to use the robot in object carrying search and rescue (SAR) applications, a grasping scheme of desired objects is added to the abilities of the controller. Behavior-based approach is also incorporated by "target reaching", "link following", "obstacle avoidance" and "object grasping" behaviors. Each link of the robot is separately controlled and able to select a behavior at any time. Behaviors are all realized as fuzzy actor critic learning (FACL) controllers (Jouffe, 1998). In order to move the robot in between different configurations and take dynamics into account, an online optimization technique based on genetic algorithms is employed.