Leader Follower Robot

Lau, Why Chuong (2015) Leader Follower Robot. Project Report. UTeM, Melaka, Malaysia. (Submitted)

Text (24 Pages) Leader Follower Robot.pdf - Submitted Version Download (461kB)

Abstract

Nowadays, human capacity is limited in a lot of field especially in industry field which some of the tasks is dangerous or impossible. However, cooperation of robots with each other can overcome this kind of problem. The key elements is the ability of robot to follow other robot and concerned on the following tasks of the mobile robot. However, problems that will occur include the accuracy of tracking robot when the leader is moving, distance of avoidance collision between leader and follower robot, capability to avoid obstacle and the ability of the follower to follow the trajectory. In this project, the objectives are to design leader follower robot, determine the sensitivity of sensors used, perform ability of an obstacle avoidance by follower robot, and perform validation test of follower based on leader’s trajectory. For the methodology, there are some important components chosen for the mobile robot configuration. The Ultrasonic Sensor HC-SR04, Infrared Sensor Sharp GP2Y0A21, Arduino Uno function as microcontroller, two DC gear motor, 2 Amp Motor Driver Shield L298P and aluminum chassis as the main base for the follower robot are chosen. The first experiment is to determine the sensitivity of the sensor and avoid obstacle or collision between leader robot using IR sensor while the second experiment is to carry out the sensitivity of ultrasonic sensor to track the robot. The third experiment, carried out to analysis angle of turning of the mobile robot. In last experiment, the results show the analysis of trajectories for straight line, S-shape, U-shape and Zigzag for both with and without obstacles. As conclusion, the follower robot can performed the following task and obstacles avoidance.

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