Obstacle Detection and Driving Mode Control for a Mobile Robot with Variable Single-tracked Mechanism
Keun Ha Choi, Hae-Kwan Jeong, Kyung-Hak Hyun, Yoon-Keun Kwak · Journal of the Korean Society for Precision Engineering · 2008
In this paper, we propose a new driving mode control algorithm for a mobile robot based on obstacle detection. The robot has a variable geometry single-tracked mechanism, so it can maximize a contact length with ground for the adaptability to off-road and puesue a stable system due to the lower center of gravity. However this robot system embodied passive type according to operator. In this reason, several problems are detected. So, this research presents a new method of obstacle detection using PSD infrared sensors and translates the variable tracks on the best suited driving mode actively. And experimental results about mentioned are presented.