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There are various obstacles come in the way when there is a need to develop any kind of robots with the help of controller. To overcome with all the challenges and address all the issues in the controller is necessary then only the robot will be able to work. To avoid these kinds of obstacles in the mobile robots refers to the ability of robot to adjust the path if give response to objects in the environment. This is accomplished wither with the help of reactive control or with the help of rule-based control. Rule based is also known as distal and proximal is also known as reactive. The difference in between the proximal and rule-based controls can be subtle
In reactive control, the sensors of the robots are tied to the control of motors directly in order to respond to the speed of motor to the input of sensors directly. The one method is implemented this is make a matrix which is weighted matrix that helps in converting the inputs of sensors to the motor speeds. User can use the two-dimensional array that has number of rows and various corresponding to the sensors of number of distance and number columns which are corresponding to the motor’s number. For instance, if take a two-dimensional wheel robot that has eight sensors then the array must be having eight rays of two columns. In this sicario each row can be of two items list that helps in specifying the right and left motor speed. This array can be also be used in the avoidance algorithm. The algorithm is used in the value of weighted matrix that depends on the specific implementation that the user is planning of. The matrix weight can be calculated empirically. For instance, the controller can be implemented in the algorithm as given below.
speed[i] += matrix[j][i] * (1.0 – (sensorsValue[j] / 512));
the array od speed is a 2-D array that helps in representing the left and right motors, the array of matrx has the values in matrix that is weighted matrix and the sensorvalue holds the value of sensors. The I and j values are from the nested loop which are used over the weighted matrix and sensor values.
In rule based which is also known as distal control, the values of sensors are used as a set of rules like if then statements, these help in calculating the speed of motors.
By using wither control mechanism there are conditions where robot can get stuck. For example, sometimes in the narrow passage where it tried to turn left or right and that too at the same moment. Sometimes the robot gets stuck in the U-shaped corridor and spends its time in running from one wall to another.
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