Encoder-Based Localization, Obstacle Detection on a Mobile Robot Platform

Gürkan Küçükyıldız, Suat Karakaya

In this study, a mobile robot which is sensitive to its environment was developed and the mobile robot was tested in different obstacle conditions. The mobile robot senses the obstacles via a laser range finder(Lidar) sensor mounted on its body. The developed mobile robot has two front wheels which are coupled with two separated DC motors and single caster as rear wheel. Real time location of the mobile robot was handled from the encoders coupled with the front wheels. This location info was plotted on a user interface which was developed in Visual C # 2010 environments. Obstacle and heading direction detection was developed in Visual Basic 6.0 environment.

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