LOW COST COLLISION AVOIDANCE SYSTEM ON HOLONOMIC AND NON- HOLONOMIC MOBILE ROBOTS
DOI:
https://doi.org/10.20319/mijst.2019.51.1222Keywords:
Obstacle Avoidance, Multi-Ultrasonic Sensor Fusion, Navigation, Mobile RobotsAbstract
Technological advancement in industries necessitates development in autonomous mobile robots with obstacle avoidance for applications in industries, hospitals and educational environment. Holonomic motion allows the mobile robots to move instantaneously in any direction with no constraints while non-holonomic motion restricts the motion in limited directions. This study presents the comparison of obstacle avoidance performance using low cost sensors on holonomic and non-holonomic mobile robots. The robot prototypes are developed and implemented with stable control system for better mobility. Experimental results show that the omnidirectional mobile robots avoid collisions with limited space and less time while non-holonomic mobile platforms exhibits reduced computational complexity and efficient implementation. The developed mobile robots can be used for diverse task specification applications.
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