2007 | OriginalPaper | Buchkapitel
Kinematic Analysis, Obstacle Avoidance and Self-localization for a Mobile Robot
verfasst von : Hongbo Wang, Xingbin Tian, Zhen Huang
Erschienen in: Advances in Neural Networks – ISNN 2007
Verlag: Springer Berlin Heidelberg
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This paper presents a novel omni-directional mobile robot with obstacle avoidance and self-location function. Since a special transmission mechanism is designed, we introduce the mechanism design of the mobile robot and analyze its kinematics. A fuzzy-neural control algorithm is presented to realize the obstacle avoidance of the mobile robot. The obstacle avoidance system based on FKCN and the control algorithm for obstacle avoidance are described. A self-localization technique that uses the ceiling light for the landmark is proposed. Using this self-location function, the mobile robot could locate itself in a world coordinate system.