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

Yoshinobu Andou, Shinichi Yuta

Research output: Chapter in Book/Report/Conference proceedingConference contribution

29 Citations (Scopus)

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
Title of host publicationProceedings - IEEE International Conference on Robotics and Automation
PublisherIEEE
Pages2599-2606
Number of pages8
Volume3
Publication statusPublished - 1995
Externally publishedYes
EventProceedings of the 1995 IEEE International Conference on Robotics and Automation. Part 1 (of 3) - Nagoya, Jpn
Duration: 1995 May 211995 May 27

Other

OtherProceedings of the 1995 IEEE International Conference on Robotics and Automation. Part 1 (of 3)
CityNagoya, Jpn
Period95/5/2195/5/27

Fingerprint

Sonar
Mobile robots
Robots
Ultrasonics
Experiments
Controllers
Sensors

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering

Cite this

Andou, Y., & Yuta, S. (1995). Following a wall by an autonomous mobile robot with a sonar-ring. In Proceedings - IEEE International Conference on Robotics and Automation (Vol. 3, pp. 2599-2606). IEEE.

Following a wall by an autonomous mobile robot with a sonar-ring. / Andou, Yoshinobu; Yuta, Shinichi.

Proceedings - IEEE International Conference on Robotics and Automation. Vol. 3 IEEE, 1995. p. 2599-2606.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Andou, Y & Yuta, S 1995, Following a wall by an autonomous mobile robot with a sonar-ring. in Proceedings - IEEE International Conference on Robotics and Automation. vol. 3, IEEE, pp. 2599-2606, Proceedings of the 1995 IEEE International Conference on Robotics and Automation. Part 1 (of 3), Nagoya, Jpn, 95/5/21.
Andou Y, Yuta S. Following a wall by an autonomous mobile robot with a sonar-ring. In Proceedings - IEEE International Conference on Robotics and Automation. Vol. 3. IEEE. 1995. p. 2599-2606
Andou, Yoshinobu ; Yuta, Shinichi. / Following a wall by an autonomous mobile robot with a sonar-ring. Proceedings - IEEE International Conference on Robotics and Automation. Vol. 3 IEEE, 1995. pp. 2599-2606
@inproceedings{9024e614b8134d29830da74eea7e8e3b,
title = "Following a wall by an autonomous mobile robot with a sonar-ring",
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.",
author = "Yoshinobu Andou and Shinichi Yuta",
year = "1995",
language = "English",
volume = "3",
pages = "2599--2606",
booktitle = "Proceedings - IEEE International Conference on Robotics and Automation",
publisher = "IEEE",

}

TY - GEN

T1 - Following a wall by an autonomous mobile robot with a sonar-ring

AU - Andou, Yoshinobu

AU - Yuta, Shinichi

PY - 1995

Y1 - 1995

N2 - 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.

AB - 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.

UR - http://www.scopus.com/inward/record.url?scp=0029190728&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=0029190728&partnerID=8YFLogxK

M3 - Conference contribution

VL - 3

SP - 2599

EP - 2606

BT - Proceedings - IEEE International Conference on Robotics and Automation

PB - IEEE

ER -