Sonar-Based Wall-Following Control of Mobile Robots
نویسندگان
چکیده
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 fulll-ment 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.
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