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Wall-following controllers for sonar-based mobile robots

Bemporad, Alberto and Di Marco, Mauro and Tesi, Alberto Wall-following controllers for sonar-based mobile robots. In: Decision and Control Conference. IEEE, San Diego, December 1997, pp. 3063-3068. ISBN 0-7803-4187-2 (1997)

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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 fulfillment 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

Item Type: Book Section
Identification Number: 10.1109/CDC.1997.657920
Uncontrolled Keywords: Convergence; Infrared sensors; Merging; Mobile robots; Robot kinematics; Robot sensing systems; Sensor fusion; Sonar; Velocity control; Wheels
Subjects: H Social Sciences > HE Transportation and Communications
Q Science > QA Mathematics > QA75 Electronic computers. Computer science
T Technology > TK Electrical engineering. Electronics Nuclear engineering
Research Area: Computer Science and Applications
Depositing User: Professor Alberto Bemporad
Date Deposited: 27 Jul 2011 09:19
Last Modified: 16 Jul 2014 13:59
URI: http://eprints.imtlucca.it/id/eprint/602

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