Navigation System Based on Learning Vector Quantization Method for Robot Inspecting Object

摘要

One of the tasks given to the robot is to work in unpredictable environments. The physical limitation of human needs a robot to facilitate the work. In this study, the mobile robot has been designed to navigate in inspecting target or suspected objects. The Learning Vector Quantization (LVQ) method was implanted in the robot to navigate around the object. This experiment has been carried out in the arena, and the objects were rectangle, triangle, and circle shapes. The experimental results show that the robot can navigate around these objects with both the movement from the right side and the left side. The mobile robot can maintain the distance from objects ranging from 30 cm to 40 cm with the time required to surround the rectangle object and reach one rotation being 17 seconds, for the triangle object 14 seconds, and the circle object 12 seconds.