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: | |
% 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={https://old.control.ee.ethz.ch/index.cgi?page=publications;action=details;id=406}
} | |