By Topic

Pattern recognition and following of wall by behavior-based mobile robot

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

3 Author(s)
Ding Chengjun ; Dept. of Mech. Eng., Hebei Univ. of Technol., Tianjin, China ; Zhang Minglu ; Duan Ping

The movement of mobile robot along wall is classified into wall type recognition, straight wall following and turning around corners according to the behavior based idea. Mobile robot measures distance between its body and the wall it follows by three ultrasonic sensors, it recognizes the wall type online with neural network, follows straight wall with fuzzy controller and turns around 3 kinds of corners at their optimal turning radius by calculating models for the corners. The results of simulation and experiments according to TIT-I mobile robot indicate that the control strategy for wall recognition and following proposed in this paper is practicable and effective.

Published in:

Intelligent Control and Automation, 2004. WCICA 2004. Fifth World Congress on  (Volume:6 )

Date of Conference:

15-19 June 2004