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Wall following for autonomous robot navigation

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3 Author(s)
Imhof, A. ; Robot. Lab., Bern Univ. of Appl. Sci. Eng. & Inf. Technol., Biel, Switzerland ; Oetiker, M. ; Jensen, B.

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.

Published in:

Applied Robotics for the Power Industry (CARPI), 2012 2nd International Conference on

Date of Conference:

11-13 Sept. 2012