抄録
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.
| 本文言語 | 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 |
| 巻 | 3 |
| 出版ステータス | Published - 1995 1月 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月 21 → 1995 5月 27 |
ASJC Scopus subject areas
- ソフトウェア
- 制御およびシステム工学
- 人工知能
- 電子工学および電気工学