Title :
Wall-following controllers for sonar-based mobile robots
Author :
Bemporad, Alberto ; Di Marco, Mauro ; Tesi, AIberto
Author_Institution :
Dipt. di Sistemi e Inf., Florence Univ., Italy
Abstract :
For mobile robots equipped with incremental encoders and one sonar sensor this paper presents wall-following controllers that achieve global convergence, as well as the fulfillment of constraints on the orientation of the sonar and the velocities of the wheels. A sensor fusion approach for the estimation of the robot´s coordinates is adopted by designing an extended Kalman filter that combines ultrasonic and odometric data
Keywords :
Kalman filters; angular velocity measurement; distance measurement; mobile robots; nonlinear filters; path planning; sensor fusion; sonar; ultrasonic applications; velocity control; extended Kalman filter; global convergence; incremental encoders; odometric data; sensor fusion approach; sonar sensor; sonar-based mobile robots; ultrasonic data; wall-following controllers; Convergence; Infrared sensors; Merging; Mobile robots; Robot kinematics; Robot sensing systems; Sensor fusion; Sonar; Velocity control; Wheels;
Conference_Titel :
Decision and Control, 1997., Proceedings of the 36th IEEE Conference on
Conference_Location :
San Diego, CA
Print_ISBN :
0-7803-4187-2
DOI :
10.1109/CDC.1997.657920
