Mobile Robot Obstacles Avoidance by Using Braitenberg Approach

摘要

This paper presents an obstacle avoidance using Braitenberg approach for the E-puck mobile robot. The Braitenberg control was design using 8 IR sensors and 2 motor speeds. Proximal control was used in this project, which make the robot has the ability to adjust its path in response to the obstacles. The main goal of this research is to test the performance of E-puck mobilerobot to avoid obstacles by using Braitenberg approach. The performance of the robot was tested to difference complexities of obstacles. The obstacles are fixed into a static environment. The controller for the robot is designed using C programming on Webots software. There are two things that we consider about the robot success which are the ability of the robot to avoid the obstacles in different shape and also the ability of the robot with various complexity of obstacles. The result shows that the robot can avoid the obstacles successfully in simple and medium environment, but having some local minima problem when faced to the complex environmentwith obstacles.