A Fuzzy-Behavior Based Approach to “Dynamic and Static Obstacles” Avoidance in an Unknown Space, M.Sc. Thesis Sharif University of Technology ; Sayyadi, Hassan (Supervisor)
Abstract
In this article, research has been carried out on the control technique of autonomous mobile robots to navigate in unknown environments, avoiding static and moving obstacles using eight ultrasonic sensors for obstacle recognition.
In this article we used simple three wheeled robots. Each robot has a passive caster wheel and two active fixed wheels which can act independently. In addition robots have holonomic constraints like maximum acceleration, maximum speed and maximum angular velocity, so robot’s speed and orientation change independently and these changes are small in each time step. Each robot has eight ultrasonic sensors, each of them cover 22.5 degree of space from robot‘s... Cataloging briefA Fuzzy-Behavior Based Approach to “Dynamic and Static Obstacles” Avoidance in an Unknown Space, M.Sc. Thesis Sharif University of Technology ; Sayyadi, Hassan (Supervisor)
Abstract
In this article, research has been carried out on the control technique of autonomous mobile robots to navigate in unknown environments, avoiding static and moving obstacles using eight ultrasonic sensors for obstacle recognition.
In this article we used simple three wheeled robots. Each robot has a passive caster wheel and two active fixed wheels which can act independently. In addition robots have holonomic constraints like maximum acceleration, maximum speed and maximum angular velocity, so robot’s speed and orientation change independently and these changes are small in each time step. Each robot has eight ultrasonic sensors, each of them cover 22.5 degree of space from robot‘s... Find in contentBookmark |
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