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Proceedings Paper

Ultrasonic Wall-Following Controller For Mobile Robots
Author(s): Mark B. Kadonoff
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Paper 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.

Paper Details

Date Published: 1 March 1990
PDF: 11 pages
Proc. SPIE 1195, Mobile Robots IV, (1 March 1990); doi: 10.1117/12.969900
Show Author Affiliations
Mark B. Kadonoff, Navigation Technologies, Inc. (United States)

Published in SPIE Proceedings Vol. 1195:
Mobile Robots IV
Wendell H. Chun; William J. Wolfe, Editor(s)

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