Path following in unknown environment for a car-like mobile robot
نویسندگان
چکیده
The path following is the automatic control of the mobile robot along the specified path without human interference. The proposed path following applies for the robot navigation in unknown environments, where the robot has no preliminary information about obstacles. This paper presents an innovative idea for the path following control that is to integrate the basic path following control with the obstacle avoidance and the trajectory generation. The robot performs the basic path following control with obstacle detection using on ultrasonic and infrared sensors. The obstacle avoidance is developed by wall following technique and the fuzzy logic controller. The trajectory generation is to generate the fittest trajectory to the desired final position and heading. These algorithms base on the car manoeuvring characteristics.
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