Following a wall by an autonomous mobile robot with a sonar-ring

Yoshinobu Ando, Shin'ichi Yuta

Research output: Contribution to journalConference article

Abstract

In this paper, we present a robust method for an autonomous mobile robot with a sonar-ring to follow walls. The sonar-ring is consisted of multiple ultrasonic range sensors. The proposed wall-following algorithm makes a robot be able to follow a wall in various shapes such as a square wall, a circular wall and etc. The autonomous mobile robot 'Yamabico' is used for experiments after equipped 12 directional sonar-ring. The on-board controller of the robot decided its motion based on sonar-ring range data every 3 centimeters going forward. We made many experiments with this autonomous mobile robot, and investigated the validity and the limits of this method.

Original languageEnglish
Pages (from-to)2599-2606
Number of pages8
JournalProceedings - IEEE International Conference on Robotics and Automation
Volume3
Publication statusPublished - 1995 Jan 1
EventProceedings of the 1995 IEEE International Conference on Robotics and Automation. Part 1 (of 3) - Nagoya, Jpn
Duration: 1995 May 211995 May 27

    Fingerprint

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

Cite this