Development And Guidance Of A Mobile Robot With Object Avoidance Properties
Aysin Yeltekin, Kasmijan Javoori · Proceedings of SPIE, the International Society for Optical Engineering/Proceedings of SPIE · 1989
In this work we had developed an autonomous mobile robot with capabilities of object avoidance as well as finding the minimum path among two dimensional polygonal objects. The mobile unit moves on wheels and it can be controlled by the main control software loaded to the machine. A remote controller activates and stops the operation of the main controller. The vehicle can find its way among static polygonal objects with the help of a vision sensor. The main controller is responsible from the execution of the main navigation software as well as commanding the driving circuits for motors of wheels and the vision system. The vision system consists of a microdigital camera used as the vision sensor for object detection. There is a stepper motor which aligns the camera on the direction of motion along the path of the mobile robot. The software package consists of a main navigation program which is written in C language and functional subroutines which are written in Assembly for fast execution and easy access to hardware control. The autonomous mobile robot is a self guiding unit and it does not need teleoperators or other guidance units.