Target Finding and Following on a Wheeled Mobile Robot
Date Issued
2011
Date
2011
Author(s)
Wen, Yung-Jen
Abstract
This paper focuses on development of wheel robot intelligent capabilities, according to different signals of different sensors to achieve the target following and outdoor static robot recall. In the target following, low-cost sensors and a low-computation algorithm are utilized to realize the target following and obstacles avoidance. In order to locate target, the sensing system is established to detect the target direction based on infrared remote receivers experiment, and the infrared range finders are used to detect the target distance. The robot can track and follow the target at various speeds with distance settings, and by using ultrasonic sensors to avoid obstacles, is capable of moving in human environment. In addition, the odometr mode allows the robot to track the target’s last position when the signals are obstructed. Target following experimental validation of human following and robot following are executed to evaluate the performance of the proposed system setup. In the robot recall, the received signal strength indication (RSSI) and the search algorithm are used to calculate the robot to the target position. Finally, according to experiment results under different distances, we plan the step for the realization of outdoor static mode robot recall.
Subjects
target following
infrared sensor
ultrasonic sensor
target detection
obstacle avoidance
locate
Type
thesis
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