eprintid: 448
rev_number: 10
eprint_status: archive
userid: 7
dir: disk0/00/00/04/48
datestamp: 2011-07-27 09:11:14
lastmod: 2014-07-17 12:15:37
status_changed: 2011-07-27 09:11:14
type: article
metadata_visibility: show
item_issues_count: 0
creators_name: Bemporad, Alberto
creators_name: Di Marco, Mauro
creators_name: Tesi, Alberto
creators_id: alberto.bemporad@imtlucca.it
creators_id: 
creators_id: 
title: Sonar-based wall-following control of mobile robots
ispublished: pub
subjects: QA75
subjects: TJ
divisions: CSA
full_text_status: none
abstract: In this paper, the wall-following problem for low-velocity mobile robots, equipped with incremental encoders and one sonar sensor, is considered. A robust observer-based controller, which takes into account explicit constraints on the orientation of the sonar sensor with respect to the wall and the velocity of the wheels, is designed. The feedback controller provides convergence and fulfillment of the constraints, once an estimate of the position of the mobile robot, is available. Such an estimate is given by an Extended Kalman Filter (EKF), which is designed via a sensor fusion approach merging the velocity signals from the encoders and the distance measurements from the sonar. Some experimental tests are reported to discuss the robustness of the control scheme. 
date: 2000-03
date_type: published
publication: Journal of dynamic systems measurement and control
volume: 122
number: 1
publisher: American Society of Mechanical Engineers
pagerange: 226-230
id_number: 10.1115/1.482468 
refereed: TRUE
issn: 0022-0434
official_url: http://scitation.aip.org/getabs/servlet/GetabsServlet?prog=normal&id=JDSMAA000122000001000226000001&idtype=cvips&gifs=yes&ref=no
citation:   Bemporad, Alberto and Di Marco, Mauro and Tesi, Alberto  Sonar-based wall-following control of mobile robots.  Journal of dynamic systems measurement and control, 122 (1).  pp. 226-230.  ISSN 0022-0434      (2000)