A Study of Path Following and Obstacle Avoidance for a Mobile Robot

• Main Authors: Wei-hung Hung, 洪緯紘
• Other Authors: Chun-chih Chiu
• Format: Others
• Language: zh-TW
• Published: 2009
• Online Access: http://ndltd.ncl.edu.tw/handle/96333487448288320702

碩士 === 國立勤益科技大學 === 機械工程系 === 97 === The purpose of this paper is to develop an intelligent mobile robot with the functions of path following and obstacle avoidance. The robot has an open module structure. The robot’s motion contains two modes: patrolling mode and path following mode. The path following mode will follow the specified route with ability to avoid any obstacle. There are six IRs installed on the robot to detect the distance of any obstacle or the specified target (path) to follow. In this research, algorithm to achieve the route planning. A window form written by Microsoft Studio Visual C++ was created and used to operate the robot more conveniently. Some test results were shown in the paper. The discussion about the future work was addressed at the end of this dissertation.