Abstract: Generally speaking, the mobile robot is capable of
sensing its surrounding environment, interpreting the sensed
information to obtain the knowledge of its location and the
environment, planning a real-time trajectory to reach the object. In
this process, the issue of obstacle avoidance is a fundamental topic to
be challenged. Thus, an adaptive path-planning control scheme is
designed without detailed environmental information, large memory
size and heavy computation burden in this study for the obstacle
avoidance of a mobile robot. In this scheme, the robot can gradually
approach its object according to the motion tracking mode, obstacle
avoidance mode, self-rotation mode, and robot state selection. The
effectiveness of the proposed adaptive path-planning control scheme
is verified by numerical simulations of a differential-driving mobile
robot under the possible occurrence of obstacle shapes.
Abstract: In this paper, a multi-agent robot system is presented. The system consists of four robots. The developed robots are able to automatically enter and patrol a harmful environment, such as the building infected with virus or the factory with leaking hazardous gas. Further, every robot is able to perform obstacle avoidance and search for the victims. Several operation modes are designed: remote control, obstacle avoidance, automatic searching, and so on.