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Integrated tracking and accident avoidance system for mobile robots

  • Irfan Ullah
  • Furqan Ullah
  • Qurban Ullah
  • Seoyong Shin
Robotics and Automation

Abstract

In the intelligent transportation field, various accident avoidance techniques have been applied. One of the most common issues with these is the collision, which remains an unsolved problem. To this end, we developed a Collision Warning and Avoidance System (CWAS), which was implemented in the wheeled mobile robot. Path planning is crucial for a mobile robot to perform a given task correctly. Here, a tracking system for mobile robots that follow an object is presented. Thus, we implemented an integrated tracking system and CWAS in a mobile robot. Both systems can be activated independently. Using the CWAS, the robot is controlled through a remotely controlled device, and collision warning and avoidance functions are performed. Using the tracking system, the robot performs tasks autonomously and maintains a constant distance from the followed object. Information on the surroundings is obtained through range sensors, and the control functions are performed through the microcontroller. The front, left, and right sensors are activated to track the object, and all the sensors are used for the CWAS. The proposed system was tested using the binary logic controller and the Fuzzy Logic Controller (FLC). The efficiency of the robot was improved by increasing the smoothness of motion via the FLC, achieving accuracy in tracking and increasing the safety of the CWAS. Finally, simulations and experimental outcomes have shown the usefulness of the system.

Keywords

Collision avoidance fuzzy logic microcontroller object tracking range sensor 

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Copyright information

© Institute of Control, Robotics and Systems and The Korean Institute of Electrical Engineers and Springer-Verlag Berlin Heidelberg 2013

Authors and Affiliations

  • Irfan Ullah
    • 1
  • Furqan Ullah
    • 2
  • Qurban Ullah
    • 3
  • Seoyong Shin
    • 1
  1. 1.Irfan Ullah and Seoyong Shin are with the Department of Information and Communication EngineeringMyongji UniversityYonginKorea
  2. 2.Department of Mechanical EngineeringMyongji UniversityYonginKorea
  3. 3.Department of Computer Science and Information TechnologyVirtual University of PakistanLahorePakistan

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