Online Obstacle Avoidance System for an Autonomous Guided Vehicle
Meyyapa Ganesh Murugappan · OhioLink ETD Center (Ohio Library and Information Network) · 2000
Obstacle avoidance is an important feature of any autonomous vehicle.This work is about building an online database system to handle various types of obstacles presented in the annual International Ground Robotics Competition.The system is designed for the mobile robot Bearcat II.A reliable database system for all types of obstacles and solutions to avoid is built.Further to maintain the database system in today's electronic age, it has been integrated to have web access.The various types of obstacles presented in the previous year contest are studied and an algorithm to avoid them is worked out.The solutions are entered into the database system.A web server to maintain the database system developed is implemented.It is designed to update the system for new types of obstacle to be presented in future.To maintain the system over web, XML (eXtensible Markup Language) standards for the data are established.The presentation will be put up on the XSL (eXtensible Stylesheet Language).A portable server side dynamic web content of the database system is provided with the development of java servlets.Servlets being portable to any platform, it will be put up on the robotics sun web server.The Online Obstacle Avoidance System will be a great tool for the robot team as new team members can take over the work instead of starting from scratch.It will reduce the time involved in designing solutions for new problems to be presented in the future.This system could be of great use in designing the robot during the final design phase of the contest.