eprintid: 602
rev_number: 10
eprint_status: archive
userid: 7
dir: disk0/00/00/06/02
datestamp: 2011-07-27 09:19:42
lastmod: 2014-07-16 13:59:41
status_changed: 2011-07-27 09:19:42
type: book_section
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: Wall-following controllers for sonar-based mobile robots
ispublished: pub
subjects: HE
subjects: QA75
subjects: TK
divisions: CSA
full_text_status: none
keywords: Convergence; Infrared sensors; Merging; Mobile robots;   Robot kinematics; Robot sensing systems; Sensor fusion;   Sonar; Velocity control; Wheels
abstract: 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
date: 1997
date_type: published
publication: Proc. 36th IEEE Conf. on Decision and Control
volume: 3
publisher: IEEE
place_of_pub: San Diego, December 1997
pagerange: 3063-3068
event_dates: San Diego, CA
id_number: 10.1109/CDC.1997.657920
refereed: TRUE
isbn: 0-7803-4187-2 
book_title: Decision and Control Conference
official_url: http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=657920&isnumber=14225
citation:   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)