Tracked Mobile Robot Obstacle Avoidance Control

With the continuous development of computer and robot technology, modern mobile robot have been more widely used in the civil, military, scientific research and so on, they can replace human beings to achieve a lot of heavy or severe conditions jobs that humans can not. Therefore, the mobile robot has been received national attention. As the robot application range extends constantly, its working condition is getting more complex, which is always unknown, dynamic and unstructured, obstacle avoidance becomes an important direction for mobile robot.Mobile robot obstacle avoidance is a behavior that mobile robot can avoid objects encountered in the robot’s movement, it becomes the key to the mobile robot movement. In this paper, tracked mobile robot of REVV-B has been investigated, it uses the ultrasonic sensor and infrared sensor to realize the control of robotic avoiding obstacles.Firstly, the systemic structure and kinetic principle of mobile robot were introduced, the planar motions of the tracked mobile robots are analyzed in Kinematics. A motion control system program, especially fit the differential drive nature of the tracked mobile robots, has been proposed.Secondly, the hardware system of the tracked mobile robot was analyzed in detail. Use the ADT-8940A1motion control card, by calling the library functions to achieve the robot forward, backward and other movement. Using four sets of ultrasonic sensors, they are used for robot obstacle in the process of distance measurement; with four sets of infrared sensors, they are used for detecting the presence or absence of obstructions.Lastly, fuzzy control theory is used to solve the tracked mobile robot’s obstacle avoidance problem. The fuzzy logic control theory is introduced briefly, as well as how the fuzzy control algorithm functions to make sure the robot to avoid the obstacle automatically. The inputs and the outputs of the fuzzy logic control system are selected suitably to establish the fuzzy control rules and the fuzzy controller, it is simulated by MATLAB. Simulation results show that, by using this algorithm, the tracked mobile robot can avoid the obstacle accurately. The fuzzy controller of a three-input single-out put is designed by MATLAB language, the control strategy is applied to the tracked mobile robot of REVV-B, lots of experiments show that the control strategy is feasible and the tracked mobile robot can achieve obstacle avoidance.