Digital control of mobile robots using microprocessors

With the introduction and development of interfacing devices, the digital control of mobile robots has almost become a modular design task with the use of microprocessors.;The steps of the design procedure depends upon the typical application of the robot. The software development and the hardware selection depends upon the technique used in control of the robot and the application of the robot.;This thesis provides a systematic approach for the design procedure of a small mobile wheeled-robot and discusses the various techniques used in control of this robot in the open-loop and the closed-loop modes of operation. The thesis also discusses different obstacle-avoidance algorithms using this wheeled-robot.