Controlling the Navigation of a Mobile Robot in a Corridor with Redundant Controllers

Author

Gamarra, Daniel Fernando Tello ; Bastos-Filho, Teodiano Freire ; Sarcinelli-Filho, Mario

Author_Institution

Department of Electrical Engineering Federal University of Espírito Santo Av. Fernando Ferrari, 514 29060-910, Vitória/ES, Brazil; fernando@ele.ufes.br

fYear

2005

fDate

18-22 April 2005

Firstpage

3844

Lastpage

3849

Abstract

This work presents a strategy to control a mobile robot navigating along a corridor. The proposed control system is based on the fusion of the control signals generated by two redundant controllers. Redundancy here means that both controllers have the same objective, which is to keep the mobile robot in the middle of the corridor. The two control signals being fused are generated by a controller based on the optical flow technique and by a controller based on distance measures provided by ultrasonic sensors.

Keywords

Corridor Following; Fusion of Control Signals; Mobile Robot Navigation; Optical Flow; Redundant Controllers; Control systems; Fluid flow measurement; Fusion power generation; Image motion analysis; Mobile robots; Navigation; Optical control; Optical sensors; Robot control; Signal generators; Corridor Following; Fusion of Control Signals; Mobile Robot Navigation; Optical Flow; Redundant Controllers;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 2005. ICRA 2005. Proceedings of the 2005 IEEE International Conference on

Print_ISBN

0-7803-8914-X

Type

conf

DOI

10.1109/ROBOT.2005.1570707

Filename

1570707