Robotic Map Creation and Adaptation (Adaptive Robots): Hurdle Detection and Avoidance Using Sonar Sensors, Position Memorizing and Map Creation With Rotation Encoders

This book discusses the design and control aspects of autonomous robotics. Objective of this project was to develop a system that will be free to move without any human guideline in an open environment, must also detect the hurdle and avoid that and creation of a map of surroundings with movement. Primary part of Adaptation is "Hindrance Detection and Memorizing", so several techniques of hurdle discovery are examined. "Idiothetic" mapping principle is used to create maps in which dead reckoning methods such as tracking the number of revolutions of its wheels are normally utilized. During the movement of robot, a module continuously works on map creation logics. When robot is stopped, a button is used to instruct controller to retrieve data from memory and display it on the LCD. After completion of motion, robot can also follow previous path otherwise a new map can be initialized. During map following, no sensor works for hurdle detection as it follows the coordinates already stored in memory. This robot was designed as a very basic space exploring system model and it can be modified for several other household and industrial tasks.