Kinematic analysis of wheeled mobile robot

Abstract

The thesis deals with the problem associated with the path constraints and kinematic constraints of wheeled mobile robots. It also deals with the analysis of kinematic characteristics of the wheeled mobile robots and developing a kinematic model, including the path constraints and kinematic constraints equations. From the analysis of established kinematic model some factors which affect the path tracking problem for a wheeled mobile robot, are taking into account. Considering the analysis of Fuzzy Logic, the path followed by the autonomous wheeled mobile robot determine. And from the Fuzzy Logic graph the left wheel velocity and right wheel velocity are determined. A robot arena has been devised by a MATLAB program to determine the path that the robot should follow avoiding all obstacles to reach its target.