For mobile robots equipped with incremental encoders and one sonar sensor this paper presents wall-following controllers that achieve global convergence, as well as the fulfillment of constraints on the orientation of the sonar and the velocities of the wheels. A sensor fusion approach for the estimation of the robot's coordinates is adopted by designing an extended Kalman filter that combines ultrasonic and odometric data.
Bemporad, A., DI MARCO, M., Tesi, A. (1997). Wall-following controllers for sonar-based mobile robots. In 36-th IEEE Conference on Decision and Control (pp.3063-3068) [10.1109/CDC.1997.657920].
Wall-following controllers for sonar-based mobile robots
DI MARCO, MAURO;
1997-01-01
Abstract
For mobile robots equipped with incremental encoders and one sonar sensor this paper presents wall-following controllers that achieve global convergence, as well as the fulfillment of constraints on the orientation of the sonar and the velocities of the wheels. A sensor fusion approach for the estimation of the robot's coordinates is adopted by designing an extended Kalman filter that combines ultrasonic and odometric data.
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https://hdl.handle.net/11365/24672