Abstract
The present chapter focuses on the study of different features of stair-climbing mechanisms for transporting materials autonomously. The authors finally concentrate on arm wheel-based design for stair climbing. An attempt is made to design, develop and construct a mobile robotic vehicle for stair navigation with the following functional attributes: (i) motion on plane surface, (ii) navigation on stair- case, i.e., ascending and descending stairs keeping payload carrier platform parallel to the ground, (iii) autonomous navigation and control including obstacle avoidance and stair detection. The authors attempt to design a skid steer model incorporating the slip-friction for motion on plane surface and sensor-based navigation on stair-case and plane surface. It encompasses necessary controls including vision-assisted controller for stair-case detection and sonar data-based two layered fuzzy logic technique for obstacle avoidance.
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Ray, R., Bepari, B., Bhaumik, S. (2010). On Design and Development of an Intelligent Mobile Robotic Vehicle for Stair-Case Navigation. In: Pratihar, D.K., Jain, L.C. (eds) Intelligent Autonomous Systems. Studies in Computational Intelligence, vol 275. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-11676-6_5
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DOI: https://doi.org/10.1007/978-3-642-11676-6_5
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