relation: http://eprints.imtlucca.it/602/
title: Wall-following controllers for sonar-based mobile robots
creator: Bemporad, Alberto
creator: Di Marco, Mauro
creator: Tesi, Alberto
subject: HE Transportation and Communications
subject: QA75 Electronic computers. Computer science
subject: TK Electrical engineering. Electronics Nuclear engineering
description: 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
publisher: IEEE
date: 1997
type: Book Section
type: PeerReviewed
identifier:   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)  
relation: http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=657920&isnumber=14225
relation: 10.1109/CDC.1997.657920