TY  - CHAP
Y1  - 1997///
CY  - San Diego, December 1997
SP  - 3063
PB  - IEEE
A1  - Bemporad, Alberto
A1  - Di Marco, Mauro
A1  - Tesi, Alberto
EP  - 3068
T2  - Decision and Control Conference
ID  - eprints602
UR  - http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=657920&isnumber=14225
KW  - Convergence; Infrared sensors; Merging; Mobile robots;   Robot kinematics; Robot sensing systems; Sensor fusion;   Sonar; Velocity control; Wheels
TI  - Wall-following controllers for sonar-based mobile robots
AV  - none
N2  - 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
M1  - 3
SN  - 0-7803-4187-2 
ER  -