{"title":"一个带声纳环的自主移动机器人沿着墙走","authors":"Y. Ando, S. Yuta","doi":"10.1109/ROBOT.1995.525649","DOIUrl":null,"url":null,"abstract":"Presents a robust method for an autonomous mobile robot with a sonar-ring to follow walls. The sonar-ring consists of multiple ultrasonic range sensors. The proposed wall-following algorithm makes a robot able to follow a wall in various shapes such as a square wall, a circular wall etc. The autonomous mobile robot \"Yamabico\" is used for experiments after being equipped with a 12 directional sonar-ring. The on-board controller of the robot decides its motion based on sonar-ring range data every 3 centimeters going forward. The authors carried out many experiments with this autonomous mobile robot, and investigated the validity and the limits of this method.","PeriodicalId":432931,"journal":{"name":"Proceedings of 1995 IEEE International Conference on Robotics and Automation","volume":"37 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"1995-05-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"54","resultStr":"{\"title\":\"Following a wall by an autonomous mobile robot with a sonar-ring\",\"authors\":\"Y. Ando, S. Yuta\",\"doi\":\"10.1109/ROBOT.1995.525649\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"Presents a robust method for an autonomous mobile robot with a sonar-ring to follow walls. The sonar-ring consists of multiple ultrasonic range sensors. The proposed wall-following algorithm makes a robot able to follow a wall in various shapes such as a square wall, a circular wall etc. The autonomous mobile robot \\\"Yamabico\\\" is used for experiments after being equipped with a 12 directional sonar-ring. The on-board controller of the robot decides its motion based on sonar-ring range data every 3 centimeters going forward. The authors carried out many experiments with this autonomous mobile robot, and investigated the validity and the limits of this method.\",\"PeriodicalId\":432931,\"journal\":{\"name\":\"Proceedings of 1995 IEEE International Conference on Robotics and Automation\",\"volume\":\"37 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"1995-05-21\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"54\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"Proceedings of 1995 IEEE International Conference on Robotics and Automation\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/ROBOT.1995.525649\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"Proceedings of 1995 IEEE International Conference on Robotics and Automation","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/ROBOT.1995.525649","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
Following a wall by an autonomous mobile robot with a sonar-ring
Presents a robust method for an autonomous mobile robot with a sonar-ring to follow walls. The sonar-ring consists of multiple ultrasonic range sensors. The proposed wall-following algorithm makes a robot able to follow a wall in various shapes such as a square wall, a circular wall etc. The autonomous mobile robot "Yamabico" is used for experiments after being equipped with a 12 directional sonar-ring. The on-board controller of the robot decides its motion based on sonar-ring range data every 3 centimeters going forward. The authors carried out many experiments with this autonomous mobile robot, and investigated the validity and the limits of this method.
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