Simulations and Experiments of collision avoidance algorithm for Silvermate robot

Abstract

Robots have been being applied to our life. They have been replaced for human beings in the dangerous working, noxious environment and so on. In Robotics, "Collision avoidance" is one of the key issues to successful applications of mobile robot systems. Recently, many studies on real time collision avoidance have been achieved and all mobile robots feature some kind of collision avoidance which requires the robot to detect the obstacle; take the measurements, and resume motion with real time system. This thesis proposes the Modification Elastic strips method for mobile robot to avoid obstacles with a real time system in an uncertain environment. The method deals with the problem of robot in driving from an initial position to a target position based on elastic force and potential field force. To avoid the obstacles, the robot has to modify the trajectory based on signal received from the sensor system. The method based on the elastic force repulsed of the nearest obstacles: one on the left, one on the right to calculate new position of robot. In addition, the application of Pseudomedian filter is proposed to process the non-linear signal from the sensors. It has been removed the noises of these signal. The simulations and experiments of these methods are carried out. The trajectory of robot is smoother and more adaptive in an environment including multiple obstacles with the combination of Modification Elastic strips and Pseudomedian filter.