Sonar-Based Wall-Following Control of Mobile Robots

[+] Author and Article Information
Alberto Bemporad

Automatic Control Laboratory, ETH Zentrum, ETL I24.2, 8092 Zürich, Switzerland

Mauro Di Marco, Alberto Tesi

Dipartimento di Sistemi e Informatica, Università di Firenze, Via di S. Marta 3, 50139 Firenze, Italyatesi@ingfi1.ing.unifi.it

J. Dyn. Sys., Meas., Control 122(1), 226-229 (Dec 02, 1998) (4 pages) doi:10.1115/1.482468 History: Received December 02, 1998
Copyright © 2000 by ASME
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Grahic Jump Location
Wall following problem (WFP)
Grahic Jump Location
Evolution of the x-coordinate (distance from the wall), y-coordinate (distance along the wall) and θ-coordinate: real (solid line) and estimated (dashed-line). In the shadowed zone the EKF is not active.
Grahic Jump Location
Following a discontinuous wall: real (solid line) and estimated (dashed-line) robot trajectory



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