T-shaped infrared sensor design of the robot and complex trajectory tracking method

In this paper, a robot complex trajectory tracking method such as a straight line, curve, right-angle bend, T-junction and crossroad using T-shaped infrared sensors is studied. Sensors detecting signal are designed as T shape which is equipped an additional infrared sensor in the direction of the robot moving based on of a single row of sensors. This paper analyzes variety signal patterns detected by the T-shaped sensor and determines the routes of robot in varieties of road conditions. Experimental results demonstrate that T-shaped sensor can complete complex trajectory tracking successfully.