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A four-wheeled autonomic trolley of obstacle avoidance is controlled by way of front-wheel steering and back- wheel driving. Three pairs of ultrasonic sensors are, respectively, installed on the left front, front and right front of the trolley in order to measure the distances between obstacles and the trolley. Its control strategy is drived from the concept of path planning for mobile robot based on fuzzy logic. The reference variables are the current location coordinates, X Y, and tp(the steering angle to target point), thus to find out the output steering angle (hp) of the front wheel.

A Design of the Obstacle Avoidance Software for Solar Autonomic Trolley