Autonomous path tracking and obstacle avoidance control of mobile robot

Abstract

With the progress of automation technology the industries are trying to adopt robots instead of human workforce in fields This thesis discusses control of path tracking and obstacle avoidance for differential drive mobile robot and implements the prototype robot Path tracking is the ability of the mobile vehicle to move forward on the marking track Obstacle avoidance behavior ensures that the vehicle doesn’t hit any object in its path while moving This prototype robot follows marking track detects obstacle and take necessary actions to avoid it The design fused two modes- following line and following wall The three sets of line tracking sensors and ultrasonic sensors are implemented in this prototype to detect path and obstacles respectively The data obtained by the three sets of line tracking sensors are used for PID control to correct the deviation from the marking path Compare to constant base speed scenario the advantage of variable base speed scenario while PID value is significant small is 11 4% time saving in the route applied in this paper As for obstacle avoidance three sets of ultrasonic sensors are implemented to detect obstacles The robot switches to following wall mode to follow the boundary of obstacle once any one is detected on the path The robot switches back to follow line mode once the marking path is detected again

Date of Award	2019
Original language	English
Supervisor	Chieh-Li Chen (Supervisor)