Wall following and continuously stair climbing systems for a tracked robot

摘要

Autonomous mobile robots have been developed in many types and functions so far. This paper mainly presents the functionalities of self-made tracked robots and its practicality. The robot can move, patrol, and cross floors autonomously in indoor environments. With the information gotten from the Xtion sensor, the movement modes developed in this paper help the tracked robot identify different environments and successfully complete patrolling and climbing.