Abstract
This study implements Fuzzy logic-based obstacle avoidance and human tracking on an omnidirectional mobile system for service robots. The mobile system could be separated and combined with the robot which can be controlled remotely and switched to go forward and avoid obstacles in an indoor environment automatically. The system is able to track and go to the user according to the user’s position. The omnidirectional wheel was adapted in the power system to perform translating and spinning movements. The translating movement enables the robot to avoid obstacles faster and flexibly in paths. With the spinning movement, the robot can quickly find the direction of the object. Finally, the experiments show that the proposed system has good performance in service environments.
Highlights
The mechanical construction and artificial intelligence of robots have developed rapidly with the advancement of science and technology in the past decades [1]
Several experiments were designed to test the proposed system. These experiments comprise obstacle avoidance in three environments, when the mobile platform was separated from the robot, following the user, and coming to the user
The obstacle avoidance experiment was run with the living room, kitchen, and bedroom as the experimental areas
Summary
The mechanical construction and artificial intelligence of robots have developed rapidly with the advancement of science and technology in the past decades [1]. Robots are being increasingly applied, in the fields of traditional industry, agriculture, and aquaculture and in many environments such as medicine [2], medical equipment [3], education [4], home [5], and entertainment [6] where they had been widely used; robots replace manpower to save labor costs for enterprises. Factory automation robots such as handling robots and assembling robots can accelerate productivity and improve product yield. Intelligent service robots have become an important development trend
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