A HYBRID LOCOMOTION MOBILE ROBOT WITH REAL-TIME MOTION MODE DECISION AND OBSTACLE AVOIDANCE

Hilmi Saygin SUCUOGLU, Ismail BOGREKCI

Abstract


In this study the design and development of a robotic system with hybrid locomotion, capable of step climbing and obstacle avoidance were conducted. The robot's motion system was a hybrid design, incorporating a three-wheeled leg mechanism that enables it to climb steps and traverse flat ground.  A path planning and obstacle avoidance structure with the name of Direction Based Angle Calculation was proposed and tested. Furthermore, an algorithm that classifies the obstacles encountered by the robot according to their length and shape was proposed. Experimental tests, motion and transmission, obstacle avoidance, motion type determination was applied to measure the mechanical system and algorithm performances of robotic system. The outcome of these tests included the assessment of mechanical transmission and motion systems for step, obstacle climbing and linear ground movement. It was determined with all results from those applied tests that the mechanical transmission and motion systems are adequate for stair climbing and linear movement. Furthermore, it was observed that the developed direction-based angle calculation approach was sufficient for route planning and obstacle avoidance.

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References


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