THE CONTROL SYSTEM OF THE LEGGED MOBILE ROBOT USING GENETIC ALGORITHM
This article discusses a legged mobile robot (LMR) control system, based on the genetic algorithm and the Mealy machine. The main aspects of this control system operation for the LMR model with six-legged walking robot (hexapod) are implemented in the V-REP program. The results of modeling the movement of LMR on different types of surfaces are also presented. We demonstrate the advantage of the approach for different cases of the LMR kinematic structure partial damage. We also compare the genetic algorithm operational efficiency with the basic LMR control algorithm