Table of Contents Author Guidelines Submit a Manuscript
Journal of Sensors
Volume 2017 (2017), Article ID 2849537, 10 pages
https://doi.org/10.1155/2017/2849537
Research Article

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

Department of Mechanical Engineering, National Taiwan University of Science and Technology, No. 43, Sec. 4, Keelung Rd., Da’an Dist., Taipei City 10607, Taiwan

Correspondence should be addressed to Tesfaye Wakessa Gussu; moc.liamg@assekaweyafset

Received 20 November 2016; Accepted 28 February 2017; Published 11 April 2017

Academic Editor: Eduard Llobet

Copyright © 2017 Tesfaye Wakessa Gussu and Chyi-Yeu Lin. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.

Linked References

  1. A. Song, G. Song, D. Constantinescu, L. Wang, and Q. Song, “Sensors for robotics 2015,” Journal of Sensors, vol. 2015, Article ID 412626, 2 pages, 2015. View at Publisher · View at Google Scholar · View at Scopus
  2. A. M. Zaki, O. Arafa, and S. I. Amer, “Microcontroller-based mobile robot positioning and obstacle avoidance,” Journal of Electrical Systems and Information Technology, vol. 1, no. 1, pp. 58–71, 2014. View at Publisher · View at Google Scholar
  3. E. Masehian and Y. Katebi, “Sensor-based motion planning of wheeled mobile robots in unknown dynamic environments,” Journal of Intelligent and Robotic Systems: Theory and Applications, vol. 74, no. 3-4, pp. 893–914, 2014. View at Publisher · View at Google Scholar · View at Scopus
  4. J. Borenstein and Y. Koren, “Real-time obstacle avoidance for fast mobile robots,” IEEE Transactions on Systems, Man and Cybernetics, vol. 19, no. 5, pp. 1179–1187, 1989. View at Publisher · View at Google Scholar · View at Scopus
  5. I. Doroftei, V. Grosu, and V. Spinu, “Omnidirectional mobile robot—design and implementation,” in Bioinspiration and Robotics Walking and Climbing Robots, chapter 29, InTech, Rijeka, Croatia, 2007. View at Publisher · View at Google Scholar
  6. A. Medina-Santiago, J. L. Camas-Anzueto, J. A. Vazquez-Feijoo, H. R. Hernández-De León, and R. Mota-Grajales, “Neural control system in obstacle avoidance in mobile robots using ultrasonic sensors,” Journal of Applied Research and Technology, vol. 12, no. 1, pp. 104–110, 2014. View at Publisher · View at Google Scholar · View at Scopus
  7. P. G. Zavlangas, S. G. Tzafestas, and K. Althoefer, “Fuzzy obstacle avoidance and navigation for omnidirectional mobile robots,” in Proceedings of the European Symposium on Intelligent Techniques, pp. 375–382, Aachen, Germany, 2000.
  8. H. Omrane, M. S. Masmoudi, and M. Masmoudi, “Fuzzy logic based control for autonomous mobile robot navigation,” Computational Intelligence and Neuroscience, vol. 2016, Article ID 9548482, 10 pages, 2016. View at Publisher · View at Google Scholar
  9. Y. Kondo, T. Miyoshi, K. Terashima, and H. Kitagawa, “Navigation guidance control using haptic feedback for obstacle avoidance of omni-directional wheelchair,” in Proceedings of the Symposium on Haptics Interfaces for Virtual Environment and Teleoperator Systems, pp. 437–444, March 2008. View at Publisher · View at Google Scholar · View at Scopus
  10. D. Tuvshinjargal, B. Dorj, and D. J. Lee, “Hybrid motion planning method for autonomous robots using kinect based sensor fusion and virtual plane approach in dynamic environments,” Journal of Sensors, vol. 2015, Article ID 471052, 13 pages, 2015. View at Publisher · View at Google Scholar · View at Scopus
  11. S. Wen, W. Zheng, J. Zhu, X. Li, and S. Chen, “Elman fuzzy adaptive control for obstacle avoidance of mobile robots using hybrid force/position incorporation,” IEEE Transactions on Systems, Man and Cybernetics Part C: Applications and Reviews, vol. 42, no. 4, pp. 603–608, 2012. View at Publisher · View at Google Scholar · View at Scopus
  12. N.-S. Pai, H.-H. Hsieh, and Y.-C. Lai, “Implementation of obstacle-avoidance control for an autonomous omni-directional mobile robot based on extension theory,” Sensors, vol. 12, no. 10, pp. 13947–13963, 2012. View at Publisher · View at Google Scholar · View at Scopus
  13. P. F. Muir and C. P. Neuman, “Kinematic modeling of wheeled mobile robots,” Journal of Robotic Systems, vol. 4, pp. 281–340, 1987. View at Google Scholar
  14. Y. Leow, K. H. Low, and W. Loh, “Kinematic modelling and analysis of mobile robots with omni-directional wheels,” in Proceedings of the 7th International Conference on Control, Automation, Robotics and Vision (ICARC '02), pp. 820–825, December 2002. View at Scopus
  15. R. Siegwart, I. R. Nourbakhsh, and D. Scaramuzza, Autonomous Mobile Robots, Massachusetts Institute of Technology, 2004.