Motion control of a mobile robot for uneven terrain

Christopher, Calven (2019) Motion control of a mobile robot for uneven terrain. Project Report. Universiti Teknikal Malaysia Melaka, Melaka, Malaysia. (Submitted)

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Abstract

Since the mobile robotic platform was first introduced in the ’50s, it was a goal among researchers to develop an algorithm for the platform to be capable of generating a collision-free path for the robot to follow. Nowadays, the application of the algorithm can be seen in most mobile robots anywhere from the autonomous cleaning robot called Roomba, to the exploration rover Curiosity on Mars, and even the autonomous self-driving Tesla car. However, the most algorithm has been designed for robots navigating on a smooth surface. The problem with a rough surface is that the robot will experience slippage and lose some control of itself. Other than that, an obstacle such as hills and holes cannot be seen by standard mobile robots. Therefore, the purpose of this project is to develop a motion controller of a mobile robot specifically for uneven terrain. In this project, an Inertial Measurement Unit sensor is used together with a 180 degrees LIDAR system to detect the terrain surface orientation under the robot and possible obstacles in front of the robot. The speed of the robot is controlled based on the surface roughness for torque control and in the case when the robot meets an obstacle, it can determine the distance between itself and the obstacle to control it’s approaching speed. This helps give time to the robot to find an alternative path around the obstacle. Experimental methods are used to collect the information needed and it is graphed for different types of surface including tiles, asphalt, rocks, and hills.

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