Research Article
Mobile Robot Obstacle Avoidance Based on Neural Network with a Standardization Technique
Figure 1
Kinematics model of the mobile robot. where: 2r: the diameter of the two-wheel; W: the distance between two driving wheels; c: the mobile robot’s centre of gravity (COG) which is centred at a point; d: the distance between points P and C; P: located at the intersection of a straight line passing through the centre of the vehicle and a line passing through the axis of the two wheels; Vr: linear right wheel velocity; Vl: linear left wheel velocity; Vt: linear tangential velocity; Wr: angular right wheel velocity; Wl: angular left wheel velocity; and Wt: angular tangential velocity.