Path planning robot with obstacle avoidance
Rodríguez Arechabala, Olatz
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Abstract The aim of this project is to get a wheel robot to reach a destination successfully while avoiding any obstacles it may find in its way. The robot is equipped with an ultrasonic sensor to detect any obstacle and an Inertial Measurement Unit (IMU) that measures the velocity and acceleration to determine its position. To achieve that goal, a control system has been designed and implemented that creates a path from the starting point to the destination and, if it finds an obstacle in its way, it is able to avoid it and go back to the path.