NDLI: Integrated tracking and accident avoidance system for mobile robots

Content Provider	Springer Nature Link
Author	Ullah, Irfan Ullah, Furqan Ullah, Qurban Shin, Seoyong
Copyright Year	2013
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.
Starting Page	1253
Ending Page	1265
Page Count	13
File Format	PDF
ISSN	15986446
Journal	International Journal of Control, Automation and Systems
Volume Number	11
Issue Number	6
e-ISSN	20054092
Language	English
Publisher	Springer Berlin Heidelberg
Publisher Date	2013-11-29
Publisher Place	Berlin, Heidelberg
Access Restriction	One Nation One Subscription (ONOS)
Subject Keyword	Collision avoidance fuzzy logic microcontroller object tracking range sensor Control, Robotics, Mechatronics
Content Type	Text
Resource Type	Article
Subject	Control and Systems Engineering Computer Science Applications

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4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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