Ultrasonic Wall-Following Controller For Mobile Robots

Mark B. Kadonoff

doi:10.1117/12.969900

1 March 1990 Ultrasonic Wall-Following Controller For Mobile Robots

Mark B. Kadonoff

Proceedings Volume 1195, Mobile Robots IV; (1990) https://doi.org/10.1117/12.969900
Event: 1989 Symposium on Visual Communications, Image Processing, and Intelligent Robotics Systems, 1989, Philadelphia, PA, United States

Abstract

Mobile robots can be distinguished from automatic guided vehicles by their lack of reliance on structured environments. Instead, mobile robots locate themselves using existing features in man-made environments. In this paper, a wall-following mobile robot relies on the existence of straight walls parallel to its desired path. Ultrasonic range sensors are used to measure range and bearing to the wall. A history of data points is maintained, and a least-squares fit to the wall is computed. If the quality of the data is sufficient, the range and bearing to the wall are used to update the robot's position. The robot then steers to maintain a path parallel to the wall.

Citation Download Citation

Mark B. Kadonoff "Ultrasonic Wall-Following Controller For Mobile Robots", Proc. SPIE 1195, Mobile Robots IV, (1 March 1990); https://doi.org/10.1117/12.969900

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