An autonomous mobile robot moving through an unknown environment needs to be able to locate itself accurately and, at the same time, build a map of its surroundings.
This paper describes an intelligent system that attempts to perform robust object recognition in a realistic scenario, where a mobile robot moving through an environment must use the images collected from its camera directly to recognise objects.
To achieve a complete sense of a typical mobile robot moving on the rough and unknown surfaces, a new sensitive shield attached to the robotic wheel is developed with the principle of the total resistance of a circuit.
Using this model, which is valid for a large set of catadioptric cameras (central or non-central), new visual features are proposed to control the degrees of freedom of a mobile robot moving on a plane.
Experiments with a prototype three-wheeled mobile robot moving on a constructed uneven terrain along a straight line, a circular arc and a path representing a lane change, also illustrate the low slip capability of the three-wheeled mobile robot with the D4Bar suspension.
