Wall-following control of an infrared sensors guided wheeled mobile robot Online publication date: Tue, 12-May-2009
by L. Huang
International Journal of Intelligent Systems Technologies and Applications (IJISTA), Vol. 7, No. 1, 2009
Abstract: Wall-following is an effective and economical approach for a robot to navigate in an environment where physical features like walls exist as natural references for its movements. During the robot's wall-following process where the working space is limited and unstructured, cost effective proximity sensors (sonar or infrared) are more suitable than other expensive sensors (like visions) to feedback the states of the robot and its surroundings to the controller. In this article, a wall-following control approach is proposed for a wheeled mobile robot equipped with group of infrared sensors. The linear and angular positions of the robot with respect to the wall are derived by processing the readings of the sensors. A method to detect the discontinuity of the wall is also presented. The controller is designed with Lyapunov method whose asymptotical stability is guaranteed. The effectiveness of the proposed approach is proved and verified by an initial experimental study.
Existing subscribers:
Go to Inderscience Online Journals to access the Full Text of this article.
If you are not a subscriber and you just want to read the full contents of this article, buy online access here.Complimentary Subscribers, Editors or Members of the Editorial Board of the International Journal of Intelligent Systems Technologies and Applications (IJISTA):
Login with your Inderscience username and password:
Want to subscribe?
A subscription gives you complete access to all articles in the current issue, as well as to all articles in the previous three years (where applicable). See our Orders page to subscribe.
If you still need assistance, please email subs@inderscience.com
Our Blog 
Follow us on Twitter 
Visit us on Facebook