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

Yoshinobu Ando, Shin'ichi Yuta

研究成果: Conference article

31 引用 (Scopus)

抜粋

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.

元の言語English
ページ(範囲)2599-2606
ページ数8
ジャーナルProceedings - IEEE International Conference on Robotics and Automation
3
出版物ステータス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 211995 5 27

ASJC Scopus subject areas

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

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