Design and development of collision avoidance strategy for differential drive mobile robot
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Date
2018-06
Authors
Ng, Sing Yee
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Abstract
Autonomous mobile robots have been considered for many service applications
such as intelligent household cleaners and unmanned delivery systems. However, for
some specific tasks, a mobile robot must be able to avoid obstacles and move efficiently
from a starting point to a goal point. In such a case, a good collision avoidance technique
is required where the distance between the robot and the obstacle must be kept non-zero.
In this project, a collision avoidance strategy is designed and developed for a differential
drive mobile robot, which is built using ATmega 328p microcontroller. Two algorithms,
namely Artificial Potential Filed (APF) and Bug 2 are integrated into the model with an
ultrasonic sensor to detect and avoid the obstacles. For path planning strategy, the dead-reckoning method is developed to calculate the speed and position control of the robot
while discrete proportional-integral (PI) controllers are used to regulate the velocities of
both wheels. In order to evaluate the performance of the proposed methods, a MATLAB
Graphical User Interface (GUI) is created to plot the targeted and real path of the robot.
In this work, it is shown that both algorithms provide good collision avoidance strategy
with a maximum error of only 5cm.