Research Article
Navigation Path Following Platform for a Greenhouse Shuttle Robot Using the State-flow Method
Table 3
Trajectory tracking test 2 with State-flow design for obstacle-avoidance mobile robot.
| | Forward 1 | During v = 1, w = 2 | Time set = 1 s |
| | Obstacle avoidance 1 turn right | During v = cos(1), w = −2 sin(1) | Time set = 1 s | | Obstacle avoidance 2 turn left | During v = cos(1), w = 2 sin(1) | Time set = 1.5 s | | Obstacle avoidance 1 turn left | During v = cos(1), w = 2 sin(1) | Time set = 1.5 s | | Obstacle avoidance 1 turn right | During v = cos(1), w = −2 sin(1) | Time set = 1.5 s |
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