DocumentCode
3215496
Title
Wall following control of a mobile robot without orientation sensor
Author
Wardana, Ananta Adhi ; Widyotriatmo, Augie ; Suprijanto ; Turnip, Arjon
Author_Institution
Eng. Phys. Program, ITB, Bandung, Indonesia
fYear
2013
fDate
28-30 Aug. 2013
Firstpage
212
Lastpage
215
Abstract
The paper presents a novel wall following control of a mobile robot without orientation sensors. The problem is formulated as a path following problem of a mobile robot. The control law derived using the proposed method assure the asymptotic stabilization of the origin by using the Lyapunov method. The effectiveness of the proposed method is shown by experimental results using a P3DX mobile robot utilizing sonar sensors to detect only the distance to the wall without orientation sensor.
Keywords
Lyapunov methods; asymptotic stability; mobile robots; path planning; Lyapunov method; P3DX mobile robot; asymptotic stabilization; path following problem; sonar sensors; wall following control; Algorithm design and analysis; Angular velocity; Mobile robots; Robot kinematics; Robot sensing systems; Wheels; Lyapunov method; Mobile robot control; Orientation sensor; Sonar sensors; wall following;
fLanguage
English
Publisher
ieee
Conference_Titel
Instrumentation Control and Automation (ICA), 2013 3rd International Conference on
Conference_Location
Ungasan
Print_ISBN
978-1-4673-5795-1
Type
conf
DOI
10.1109/ICA.2013.6734074
Filename
6734074
Link To Document