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This paper presents how to control a mobile robot to follow a moving target, describes the robot that author designed and made. The robot has two groups of supersonic sensor, one of which is used to following the target; another is used to avoid obstacles. The reference of distance between the robot and the target can be given; when the actual distance is larger than the reference, the robot accelerates, else it reduce its speed or stop. When the angular distance between the target and X axis of the robot is not zero, the left and right driving wheels will rotate in different speeds, thus the robot turns and toward the target. The paper also describes the course that the robot avoids obstacles during following the target.

KEYWORDS

mobile robot; following; moving target; control method; design

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Autor: Hong Xia, Qunhua Rao

Fuente: http://www.scirp.org/



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