Obstacle Avoidance Subsystem for an Autonomous Robot
Kirstie King · Digital Commons - Olivet Distinctive Heritage, Scholarship, & Creativity (Olivet Nazarene University) · 2011
This research project details the design and implementation of the Obstacle Avoidance Subsystem for the Tigertron autonomous robot. This subsystem is designed to function as a smaller part of the whole Software Architecture and has the purpose of detecting, through use of a Laser Rangefinder, obstacles in the vehicle’s environment. Once the hardware is set up and configured, the Tigertron’s central software control architecture requests data from the Laser Rangefinder through a serial communication channel. This data is converted into objects that represent obstacles in the form of polar coordinates. These objects are stored in a container so the central control architecture can determine the best route to avoid these obstacles while still navigating to route waypoints.