%0 Book Section
%A Bemporad, Alberto
%A Di Marco, Mauro
%A Tesi, Alberto
%B Decision and Control Conference
%C San Diego, December 1997
%D 1997
%F eprints:602
%I IEEE
%K Convergence; Infrared sensors; Merging; Mobile robots;   Robot kinematics; Robot sensing systems; Sensor fusion;   Sonar; Velocity control; Wheels
%P 3063-3068
%T Wall-following controllers for sonar-based mobile robots
%U http://eprints.imtlucca.it/602/
%V 3
%X 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