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Authors: Niramon Ruangpayoongsak and Hubert Roth

Affiliation: Institute of Automatic Control Engineering, University of Siegen, Germany

Keyword(s): Path following, Mobile robot, Obstacle avoidance, Trajectory generation.

Related Ontology Subjects/Areas/Topics: Informatics in Control, Automation and Robotics ; Mobile Robots and Autonomous Systems ; Robotics and Automation

Abstract: The path following is the automatic control of the mobile robot along the specified path without human interference. The proposed path following applies for the robot navigation in unknown environments, where the robot has no preliminary information about obstacles. This paper presents an innovative idea for the path following control that is to integrate the basic path following control with the obstacle avoidance and the trajectory generation. The robot performs the basic path following control with obstacle detection using on ultrasonic and infrared sensors. The obstacle avoidance is developed by wall following technique and the fuzzy logic controller. The trajectory generation is to generate the fittest trajectory to the desired final position and heading. These algorithms base on the car manoeuvring characteristics.

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Paper citation in several formats:
Ruangpayoongsak, N. and Roth, H. (2005). PATH FOLLOWING IN UNKNOWN ENVIRONMENT FOR A CAR-LIKE MOBILE ROBOT. In Proceedings of the Second International Conference on Informatics in Control, Automation and Robotics - Volume 3: ICINCO; ISBN 972-8865-30-9; ISSN 2184-2809, SciTePress, pages 455-458. DOI: 10.5220/0001180904550458

@conference{icinco05,
author={Niramon Ruangpayoongsak. and Hubert Roth.},
title={PATH FOLLOWING IN UNKNOWN ENVIRONMENT FOR A CAR-LIKE MOBILE ROBOT},
booktitle={Proceedings of the Second International Conference on Informatics in Control, Automation and Robotics - Volume 3: ICINCO},
year={2005},
pages={455-458},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0001180904550458},
isbn={972-8865-30-9},
issn={2184-2809},
}

TY - CONF

JO - Proceedings of the Second International Conference on Informatics in Control, Automation and Robotics - Volume 3: ICINCO
TI - PATH FOLLOWING IN UNKNOWN ENVIRONMENT FOR A CAR-LIKE MOBILE ROBOT
SN - 972-8865-30-9
IS - 2184-2809
AU - Ruangpayoongsak, N.
AU - Roth, H.
PY - 2005
SP - 455
EP - 458
DO - 10.5220/0001180904550458
PB - SciTePress

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