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Wall-following controllers for sonar-based mobile robots

Author(s):

A. Bemporad, M. Di Marco, A. Tesi
Conference/Journal:

IEEE Conference on Decision and Control, San Diego, USA, pp. 3063-3068
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.

Further Information
Year:

1997
Type of Publication:

(01)Article
Supervisor:



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% Autogenerated BibTeX entry
@InProceedings { BemMar:1997:IFA_406,
    author={A. Bemporad and M. Di Marco and A. Tesi},
    title={{Wall-following controllers for sonar-based mobile robots}},
    booktitle={IEEE Conference on Decision and Control},
    pages={3063--3068},
    year={1997},
    address={San Diego, USA},
    url={http://control.ee.ethz.ch/index.cgi?page=publications;action=details;id=406}
}
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