Geometry Based Approach to Obstacle Avoidance of Triomnidirectional Wheeled Mobile Robotic Platform

<table class="figure-group"><tr class="fig-image" id="a"><td><object data="https://static.hindawi.com/articles/js/volume-2017/2849537/figures/2849537.fig.002a.svgz" name="2849537.fig.002a" type="image/svg+xml"></object></td></tr><tr class="fig-caption"><td><b>(a) </b>Ultrasonic sensor configuration</td></tr><tr class="fig-image" id="b"><td><object data="https://static.hindawi.com/articles/js/volume-2017/2849537/figures/2849537.fig.002b.svgz" name="2849537.fig.002b" type="image/svg+xml"></object></td></tr><tr class="fig-caption"><td><b>(b) </b>Platform global and local coordinate frame</td></tr></table>

<div>Ultrasonic sensor configuration and coordinate transformation of a robotic platform with circular chassis.</div>

Journal of Sensors

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Figure 2

Figure 2: Geometry Based Approach to Obstacle Avoidance of Triomnidirectional Wheeled Mobile Robotic Platform 