Integrated collision avoidance and tracking system for mobile robot

摘要

In the intelligent transportation system, various accident avoidance techniques have been applied. Among them, one of the most common issues is the collision, which is yet unsolved problem. To this end, we develop collision warning and avoidance system (CWAS), which is implemented in the wheeled mobile robot. Likewise, path planning is a crucial problem in the mobile robots to perform a given task correctly. Here, a tracking system is presented for the mobile robot, which follows an object. Thus, we have implemented an integrated CWAS and tracking system in the mobile robot. Both systems can be activated independently. In the CWAS, the robot is controlled through a remotely controlled device, and collision prediction and avoidance functions are performed. In the tracking system, the robot performs tasks autonomously, where the robot maintains a constant distance from the followed object. The surrounding information is obtained through the range sensors, and the control functions are performed through the microcontroller. The front, left, and right sensors are activated to track the object, and all the sensors are used for the CWAS. Two algorithms based on the sensory information are developed with the distance control approach. The proposed system is tested using the binary logic controller and the fuzzy logic controller (FLC). The comparison of both controllers is also described by preferring time delay and complexity. The efficiency of the robot is improved by increasing smoothness in motion using the FLC, achieving accuracy in tracking, and advancements in the CWAS. Finally, simulation and experimental outcomes have displayed the authenticity of the system.