| dc.description.abstract | Wheeled mobile robots are becoming increasingly important in industry as means of
transportation, inspection, and operation because of their efficiency and flexibility.
The design of efficient algorithms for autonomous or quasi-autonomous mobile robots
navigation in dynamic environments is a challenging problem that has been the focus
of many researchers dining the past few decades.
Computer vision, maybe, is not the most successful sensing modality used in mobile
robotics until now (sonar and infra-red sensors for example being preferred), but it is
the sensor which is able to give the information ’’what” and ’’where” most completely
for the objects a robot is likely to encounter.
In this thesis, we deal with using vision system to navigate the mobile robot to track
a reference trajectory and using a sensor-based obstacle avoidance method to pass by
the objects located on the trajectory. A tracking control algorithm is also described
in this thesis. Finally, The experimental results are presented to verify the tracking
and control algorithms. | |
