Barrier Avoidance for Indoor Mobile Robot

The motivation of current research in this book is addressed in establishing a robotic control system to follow a line was drawn on the ground, and then this system has been programmed to avoid the barriers on its way. Thus,the proposed robotic system is designed to be consisted of two parts, they are: robot(Hardware) and controller(Software). It was intended for the robot to sense its environment and sending data to the controller, the controller analyze and process these data and issued decisions as commands are sending to the robot. The robot in turn obeys to these orders, then sense and send new data. The Proposed robot consists of robot body, which is a toy car including on its board a visual sensor to see the planned path, and three IR sensors to sense the existence of barriers may found on the planned path. Other robot's parts are just communication and control devices.On the other side,The design of the controller required to be consisted of two stages,they are: line following stage and barrier avoidance stage.this book also have the source code of the research.