Investigation of the periphery sensing problems in mobile robot systems

Mobile robots are the extremly difficult controlled types of robot. Since they cannot fixed on the surface, all of their location information is relative. To determine the location of robot, absolute or relative measuring methods are being used but depending on used sensors some difficulties are seen. Output of sensors being not linear, operation interval's being insufficient, and being insensitive in definite input intervals are some samples of these difficulties. The controllers abilities that will evaluate the outputs of sensor affect the performance of system as well. In this research, a mobile robot system which has three infrared distance sensors has been applied. Different labyrinths corresponding to the characteristics of sensors output used for detecting the environment have been made up and the transfer function has been carried out. Thanks to the equations not only the obstacles have been detected but also the remotness to the obstacles has been measured. According to this measurement information, the system's being able to move without crashing onto the obstacles has been provided.