A Study on Autonomous Entering into Narrow Path Using a Mobile Robot

Abstract

This research aimed to find a narrow path identification method using autonomous movement of various robots including wheel robots. It was used to detect obstacles by sensors, obstacle avoidance behavior and entering behaviors to the narrow path using a compact wheel robot ZUMO. Fuzzy logic methods were used in order to acquire accurate angle information at the time of entrance into a narrow path. Furthermore, both simulation and actual verification experiments were conducted to confirm the effectiveness of the system.