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TECHNICAL BRIEFS

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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References

Crowley,  J. L., 1985, “Navigation for an Intelligent Mobile Robot,” IEEE Trans. Rob. Autom., RA-1, No. 1, pp. 31–41.
van Turennout,  P., Honderd,  G., and van Schelven,  L. J., 1992, “Wall-following Control of a Mobile Robot.” Proc. IEEE Int. Conf. Robot. Automat., 1, pp. 280–285.
Latombe, J. C., 1991, Robot Motion Planning, KAP, Boston.
Zelinsky,  A., 1991, “Mobile Robot Map Making Using Sonar,” J. Rob. Syst., 8, No. 5, pp. 557–577.
Durrant-Whyte,  H., 1992, “Where Am I?,” Industrial Robot, 21, No. 2, pp. 11–16.
Holenstein,  A. A., and Badreddin,  E., 1994, “Mobile-Robot Positioning Update Using Ultrasonic Range Measurements,” International Journal of Robotics and Automation, 9, No. 2, pp. 72–80.
Elfes,  A., 1987, “Sonar-Based Real-World Mapping and Navigation,” IEEE Trans. Rob. Autom., RA-3, No. 3, pp. 249–265.
Bozma,  Ö., and Kuc,  R., 1991, “Building a Sonar Map in a Specular Environment Using a Single Mobile Sensor,” IEEE Trans. Pattern Anal. Mach. Intell., RA-13, No. 12, pp. 1260–1269.
McKerrow,  P. J., 1993, “Echolocation—From Range to Outline Segments,” Rob. Auton. Syst., 11, pp. 205–211.
Bemporad, A., Di Marco, M., and Tesi, A., 1993, “Sonar-Based Wall-Following Control of Mobile Robots,” Research Report DSI-14/97. Dipartimento di Sistemi e Informatica, Firenze.
Mayback, P., 1979, Stochastic Models—Estimation and Control, Vol. 1, Academic Press, New York.

Figures

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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