Name
Abstract | ||
|---|---|---|
In this paper, a mobile robot control law for corridor navigation and wall-following, based on sonar and odometric sensorial information is proposed. The control law allows for stable navigation avoiding actuator saturation. The posture information of the robot travelling through the corridor is estimated by using odometric and sonar sensing. The control system is theoretically proved to be asymptotically stable. Obstacle avoidance capability is added to the control system as a perturbation signal. A state variables estimation structure is proposed that fuses the sonar and odometric information. Experimental results are presented to show the performance of the proposed control system. |
Year | DOI | Venue |
|---|---|---|
2003 | 10.1016/j.robot.2003.09.005 | Robotics and Autonomous Systems |
Keywords | Field | DocType |
Mobile robots,Autonomous navigation,Lyapunov stability,State estimation | Obstacle avoidance,Computer vision,Robot control,Simulation,Computer science,Lyapunov stability,Sonar,Artificial intelligence,Control system,Mobile robot navigation,Robot,Mobile robot | Journal |
Volume | Issue | ISSN |
45 | 3 | 0921-8890 |
Citations | PageRank | References |
26 | 1.51 | 4 |
Authors | ||
2 | ||
Name | Order | Citations | PageRank |
|---|---|---|---|
| Ricardo Carelli | 1 | 278 | 33.02 |
| Eduardo O. Freire | 2 | 66 | 5.71 |