The stable and precise motion control for an autonomous mobile robot

Abstract

The major problem addressed by this research is how to develop a motion control algorithm for stable and precise control of the motion of an autonomous mobile robot The approach taken was to clearly define the robot's motion descriptions and to design a high-level, machine independent robot control language called MML (Mode-based Mobile robot Language). The results are that the robot can implement line to line, line to circle, circle to circle path tracking or the combinations of these. Based on the motion control algorithm which was developed in this thesis, the robot is able to use external sensors to execute complicated missions such as obstacle avoidance (sonar is used in this thesis work).