Self-corrective cascade control obstacle avoidance and deviation correction system for robotics systems

In feedback controlled AGVs, errors in movement and trajectory planning are detected after deviation. Therefore, error correction and directing robots to the desired path are much harder than detecting deviation errors at the beginning of each movement such as in feed-forward control system. However, feedback control loop is more promising when the trajectory is unknown. In addition, detection of obstacles should lead finding a new trajectory toward desired destination. We wish to provide a cascade control system consisting of detection of movement and acceleration over surface in addition to checking the shaft encoders connected to each wheel. The system helps overcoming deviation errors in addition to finding an optimal solution for calculated new trajectory using onboard compass module working at both indoor and outdoor environment. The proposed method has been implemented on a twin robot so called Leopard GES. In addition, the designed controller board facilitates robots with wireless and wired communicational platforms on Pico-powered micro controller so that they will be able to communicate with each other, share and cooperate in solving problems collaboratively. Therefore, it changes the current shape of AGVs vastly into new set of cooperative autonomous guided vehicles using the new board equipped with cascade controlled trajectory planner system.