PATH FOLLOWING IN UNKNOWN ENVIRONMENT FOR A CAR-LIKE MOBILE ROBOT

Niramon Ruangpayoongsak, Hubert Roth

Abstract

The path following is the automatic control of the mobile robot along the specified path without human interference. The proposed path following applies for the robot navigation in unknown environments, where the robot has no preliminary information about obstacles. This paper presents an innovative idea for the path following control that is to integrate the basic path following control with the obstacle avoidance and the trajectory generation. The robot performs the basic path following control with obstacle detection using on ultrasonic and infrared sensors. The obstacle avoidance is developed by wall following technique and the fuzzy logic controller. The trajectory generation is to generate the fittest trajectory to the desired final position and heading. These algorithms base on the car manoeuvring characteristics.

References

  1. Driankov, D., Hellendoorn, H., Reinfrank, M., An Introduction to Fuzzy Control, Springer-Verlag, 1993.
  2. Kuhle, J., Roth, H., Ruangpayoongsak, N., 2004. MOBILE ROBOTS and airships in a multi-robot team. The 1st IFAC Symposium on Telematics Applications in Automation and Robotics, Helsinki University of Technology, Finland, pp. 67-72.
  3. Nehmzow, U., 2003. Mobile Robotics: A Practical Introduction, 2nd Edition, Springer-Verlag, London.
  4. Roth, H., Schwarte, R., Ruangpayoongsak, N., Kuhle, J., Albrecht, M., Grothof, M., Heß, H., 2003. 3D Vision Based on PMD-Technology for Mobile Robots. Aerosense - Technologies and Systems for Defense & Security 2003, SPIE Conference, Orlando, Florida, paper no. 5803-66.
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Paper Citation


in Harvard Style

Ruangpayoongsak N. and Roth H. (2005). PATH FOLLOWING IN UNKNOWN ENVIRONMENT FOR A CAR-LIKE MOBILE ROBOT . In Proceedings of the Second International Conference on Informatics in Control, Automation and Robotics - Volume 4: ICINCO, ISBN 972-8865-30-9, pages 455-458. DOI: 10.5220/0001180904550458


in Bibtex Style

@conference{icinco05,
author={Niramon Ruangpayoongsak and Hubert Roth},
title={PATH FOLLOWING IN UNKNOWN ENVIRONMENT FOR A CAR-LIKE MOBILE ROBOT},
booktitle={Proceedings of the Second International Conference on Informatics in Control, Automation and Robotics - Volume 4: ICINCO,},
year={2005},
pages={455-458},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0001180904550458},
isbn={972-8865-30-9},
}


in EndNote Style

TY - CONF
JO - Proceedings of the Second International Conference on Informatics in Control, Automation and Robotics - Volume 4: ICINCO,
TI - PATH FOLLOWING IN UNKNOWN ENVIRONMENT FOR A CAR-LIKE MOBILE ROBOT
SN - 972-8865-30-9
AU - Ruangpayoongsak N.
AU - Roth H.
PY - 2005
SP - 455
EP - 458
DO - 10.5220/0001180904550458