Le 12 décembre 2019

Static and Dynamic Obstacle Avoidance for Mobile Robots

  Dr. Tarun Kumar Bera

Abstract:

The self-driving car or robot is a key research area for the researchers due to increasing number of road accidents and erroneous driving. One of the major challenges in designing of a mobile robot is the autonomous travel of the robot. The key factor associated with the autonomous travel is the obstacle avoidance. The obstacle avoidance is classified as obstacle detection and avoidance control. Also, the dynamics of the mobile robot plays an important role during obstacle avoidance. The hybrid obstacle avoidance algorithm for static objects and fuzzy based obstacle avoidance algorithm for dynamic objects are proposed in this work. The model of bicycle vehicle model and four-wheel model of mobile robot are developed using bond graph theory. The effectiveness of the obstacle avoidance algorithm is tested on these models. The validation of the simulation results for obstacle detection and avoidance is also done with the experimentation-work. The obstacle avoidance for mobile robots is also done using overwhelming controller. Also, the quadruped robot based on Jansen linkage mechanism is developed and is used for obstacle avoidance application in a closed boundary-environment. The fuzzy logic controller with a set of rules is proposed to avoid the boundaries (static obstacle) of a closed environment. The simulation results are compared with the experimental result. The physical models for mobile robots are also reduced using eigenvalue sensitivity method to reduce the simulation time and system complexity. The response of the reduced model is compared with the full model. The dynamic model of the inverted pendulum with proportional-integral controller is developed and the results are validated with the experimental results. Further, the inverted pendulum model is extended to develop two-wheel mobile robot. The dynamic model of quadruped robot to study the performance of different gaits is done additionally. Afterwards, the dynamic model for biped robot is developed and fault detection and isolation technique is implemented on this model introducing a fault in the leg’s actuator during movement of the robot along a curved path.

Keywords: Mobile robot, obstacle avoidance, hybrid controller, fuzzy logic controller, overwhelming controller, model order reduction, fault detection, isolation and reconfiguration, bond graph.

Dr. Tarun Kumar Bera is an Associate Professor in the Department of Mechanical Engineering at Thapar Institute of Engineering and Technology (TIET), Patiala, India. He studied Bachelor of Engineering (Mechanical Engineering) in the National Institute of Technology, Silchar, India in 1995. Later, he obtained his Post Graduate degree in Machine Design from Indian Institute of Engineering Science and Technology, Shibpur, India in the Department of Mechanical Engineering in 2001. He obtained his PhD from Indian Institute of Technology Kharagpur, Mechanical Engineering Department in the field of Robotics in 2011. He worked as a production engineer at Greaves Ltd. (1996–1999), as a faculty at BIET, India (2001–2008) and at TIET, India (2012–2019). He has published 39 International Journal Papers and several Conference Papers. His research interests are system dynamics, robotics, vehicle dynamics, multi-body dynamics, modelling, simulation & control systems and machining dynamics.