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On Design and Development of an Intelligent Mobile Robotic Vehicle for Stair-Case Navigation

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Book cover Intelligent Autonomous Systems

Part of the book series: Studies in Computational Intelligence ((SCI,volume 275))

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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Author information

Authors and Affiliations

  1. Central Mechanical Engineering Research Institute, Durgapur (CSIR), India

    Ranjit Ray

  2. Haldia Institute of Technology, Haldia, India

    Bikash Bepari

  3. Bengal Engineering and Science University, Shibpur, Howrah, India

    Subhasis Bhaumik

Authors
  1. Ranjit Ray
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  2. Bikash Bepari
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  3. Subhasis Bhaumik
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Editor information

Editors and Affiliations

  1. Department of Mechanical Engineering, Indian Institute of Technology, Kharagpur, India

    Dilip Kumar Pratihar

  2. School of Electrical and Information Engineering, University of South Australia, Mawson Lakes Campus, Adelaide, South Australia, Australia

    Lakhmi C. Jain

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© 2010 Springer-Verlag Berlin Heidelberg

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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

  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-642-11675-9

  • Online ISBN: 978-3-642-11676-6

  • eBook Packages: EngineeringEngineering (R0)

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