The Open Automation and Control Systems Journal

2015, 7 : 346-352
Published online 2015 April 17. DOI: 10.2174/1874444301507010346
Publisher ID: TOAUTOCJ-7-346

A Design of the Obstacle Avoidance Software for Solar Autonomic Trolley

Dong Zhi-Ming , Guo Li-Xia and Song Le-Peng
School of Electrical & Information Engineering, Ch341ongqing University of Science and Technology, Chongqing, 401331, P.R China.

ABSTRACT

A four-wheeled autonomic trolley of obstacle avoidance is controlled by way of front-wheel steering and backwheel driving. Three pairs of ultrasonic sensors are, respectively, installed on the left front, front and right front of the trolley in order to measure the distances between obstacles and the trolley. Its control strategy is derived from the concept of path planning for mobile robot based on fuzzy logic. The reference variables are the current location coordinates, X Y, and tp(the steering angle to target point), thus to find out the output steering angle (hp) of the front wheel.

Keywords:

Autonomic trolley, Obstacle avoidance, Fuzzy logic.