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Resarch and design of control system for a tracked robot with a Kinect sensor

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5 Author(s)
Nai-Hong Fang ; Dept. of Appl. Electron. Technol., Nat. Taiwan Normal Univ., Taipei, Taiwan ; I-Hsum Li ; Wei-Yen Wang ; Lian-Wang Lee
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The paper displays a tracked robot that is capable of moving on pavement of any types. With Kinect's in-depth info, the tracked robot can recognize pavement of any special kinds such as a ramp. In this paper, we use the example "recognizing a ramp and climbing it on an unknown pavement" to confirm the way to control a tracked robot. Four modes, a searching mode, a aligning mode, a closing mode and a climbing mode, are proposed to achieve the goal. Intelligent Fuzzy Controller is used here to reduce the cost of computing, increasing efficiency and have an ideal controlling effect.

Published in:

System Science and Engineering (ICSSE), 2012 International Conference on

Date of Conference:

June 30 2012-July 2 2012