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Autonomous mobile robot: Path planning using backward chaining

I.M., Nawi and M.A.S.A., Rahim (2008) Autonomous mobile robot: Path planning using backward chaining. In: Advances in Electrical and Electronics Engineering - IAENG Special Edition of the World Congress on Engineering and Computer Science 2008, WCECS 2008, 22 October 2008 through 24 October 2008, San Francisco, CA.

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Abstract

This project concerns the design and fabrication of the Autonomous Mobile Robot (AMR) prototype, utilizing backward chaining as a mainframe in helping the robot to generate a self-understanding of the area of work and mobilization to a destination desired by the user. Further explanation of backward chaining is included. The main objective of this project is to create and develop a Path Planning Mobile Robot able to avoid obstacles in its path and reach a target designated position from its starting point utilizing 4 wheel-based rover body, sensors, linear motors and microcontrollers. The paper describes the design process of the AMR development, from the initiation of idea to development of algorithms, to virtual prototype development of AMR mechanisms and controller board, to fabrication, to mobility, obstacle avoidance and path planning test. Two methods of path planning are presented, using compass bearing in undetermined space and predetermined path. Obstacle avoidance and path planning algorithms has been tested using the completed design of AMR body. © 2008 IEEE.

Item Type:Conference or Workshop Item (Paper)
Uncontrolled Keywords:Backward chaining; Magnetic compass; Mobile; Obstacle avoidance; Path planning; Compasses (magnetic); Computer science; Control theory; Cybernetics; Electric measuring instruments; Electronics engineering; Machine design; Mobile robots; Navigation; Water meters; Robot programming
Subjects:T Technology > TK Electrical engineering. Electronics Nuclear engineering
Departments / MOR / COE:Departments > Electrical & Electronic Engineering
ID Code:357
Deposited By: Illani Mohd Nawi
Deposited On:04 Mar 2010 09:18
Last Modified:19 Jan 2017 08:26

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