COLLISION AND TURNOVER AVOIDANCE OF MOBILE ROBOTS WITH FORCE REFLECTION

Abstract Collision and turnover are fatal to mobile robots. Control methods are suggested for solving the fatal problems of mobile robots maneuvered by an operator. Speed reduction and wall following are applied for collision avoidance using ultrasonic sensor data. Modified Hough transform is suggested to obtain a wall model from sonar data overcoming limitations of ultrasonic sensors. The robot is also controlled by constraints of turnover using front terrain data. To predict the data about front terrain, a low-cost terrain sensor module is developed. Besides, to recognize the robot movement controlled for guaranteeing safety, a force reflection technique is applied.