Wall following using angle information measured by a single ultrasonic transducer

T. Yata, L. Kleeman, S. Yuta

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

42 Citations (Scopus)

Abstract

Conventional wall following with an ultrasonic sensor uses only range data to the nearest reflecting point. However, the bearing angle information to the wall is more useful for a wall following motion. In this paper, we propose a simple wall following algorithm, where the robot moves perpendicular to the direction to the nearest reflecting point. Also, in conventional ultrasonic pulse-echo sensing, an accurate target bearing measurement is often regarded as difficult due to the wide directivity of ultrasonic transducers. However, by assuming that the ultrasonic echo returns from a single direction, the bearing angle can be measured. A new sensing method is also proposed to determine accurately the bearing angle to the reflecting point by a single ultrasonic transducer. This paper also presents experimental results from mobile robot wall following experiments using only bearing information measured by a single ultrasonic transducer. These experiments illustrate the effectiveness of proposed method.

Original languageEnglish
Title of host publicationProceedings - 1998 IEEE International Conference on Robotics and Automation, ICRA 1998
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages1590-1596
Number of pages7
ISBN (Print)078034300X
DOIs
Publication statusPublished - 1998 Jan 1
Event15th IEEE International Conference on Robotics and Automation, ICRA 1998 - Leuven, Belgium
Duration: 1998 May 161998 May 20

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
Volume2
ISSN (Print)1050-4729

Conference

Conference15th IEEE International Conference on Robotics and Automation, ICRA 1998
CountryBelgium
CityLeuven
Period98/5/1698/5/20

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ASJC Scopus subject areas

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

Cite this

Yata, T., Kleeman, L., & Yuta, S. (1998). Wall following using angle information measured by a single ultrasonic transducer. In Proceedings - 1998 IEEE International Conference on Robotics and Automation, ICRA 1998 (pp. 1590-1596). [677372] (Proceedings - IEEE International Conference on Robotics and Automation; Vol. 2). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ROBOT.1998.677372