{"title":"Wall following for autonomous robot navigation","authors":"A. Imhof, M. Oetiker, B. Jensen","doi":"10.1109/CARPI.2012.6473370","DOIUrl":null,"url":null,"abstract":"This paper presents the design of a novel approach to Wall-Following using a single distance sensor. Our concept takes into account distance measurements and odometry information from the robot. This information is combined using a Kalman filter, to estimate the relative position of the robot to the wall. A tracking controller is used to steer the robot with constant forward velocity along the wall while correcting distance errors. Simulations and tests with a real track drive robot are used to validate the approach. The comparison to a conventional two-sensor setup shows comparable precision.","PeriodicalId":393732,"journal":{"name":"2012 2nd International Conference on Applied Robotics for the Power Industry (CARPI)","volume":null,"pages":null},"PeriodicalIF":0.0000,"publicationDate":"2012-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"4","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"2012 2nd International Conference on Applied Robotics for the Power Industry (CARPI)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/CARPI.2012.6473370","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
引用次数: 4
Abstract
This paper presents the design of a novel approach to Wall-Following using a single distance sensor. Our concept takes into account distance measurements and odometry information from the robot. This information is combined using a Kalman filter, to estimate the relative position of the robot to the wall. A tracking controller is used to steer the robot with constant forward velocity along the wall while correcting distance errors. Simulations and tests with a real track drive robot are used to validate the approach. The comparison to a conventional two-sensor setup shows comparable precision.
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