%V 3
%J Proc. 36th IEEE Conf. on Decision and Control
%R 10.1109/CDC.1997.657920
%K Convergence; Infrared sensors; Merging; Mobile robots;   Robot kinematics; Robot sensing systems; Sensor fusion;   Sonar; Velocity control; Wheels
%D 1997
%B Decision and Control Conference
%C San Diego, December 1997
%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
%L eprints602
%A Alberto Bemporad
%A Mauro Di Marco
%A Alberto Tesi
%I IEEE
%P 3063-3068
%T Wall-following controllers for sonar-based mobile robots