Direction and Position Reconstruction on Mobile Robots
Emrah Şımşek, Gülşah Tümüklü Özyer, Barış Özyer · Balkan Journal of Electrical and Computer Engineering · 2015
The control of autonomous mobile robot motion are still a big challenge due to the uncertainties of the complex environment, noisy sensor signals on robot and failure of mechanical design. Mobile robot needs to determine its location accurately for performing different task such as trajectory tracking and mapping. In this paper, we propose two different rule-based methods for reconstructing robot position and the direction during the motion. We initially introduce the four wheel mobile robot that we have developed for this study by giving the detail information about mechanical, electronic and software design steps and components. The proposed methods are used to estimate position and direction error and then reconstruct its motion while moving in the forward direction. The proposed methods are tested on a real mobile robot.