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.
|ジャーナル||Proceedings - IEEE International Conference on Robotics and Automation|
|出版ステータス||Published - 1995 1 1|
|イベント||Proceedings of the 1995 IEEE International Conference on Robotics and Automation. Part 1 (of 3) - Nagoya, Jpn|
継続期間: 1995 5 21 → 1995 5 27
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