Distributed control for mobile robots using PSD sensors

This paper presents an experimental study of environment recognition and movement control of an autonomous two-wheeled mobile robot using infrared range finding sensors. Multiple PSD sensors are arranged to detect obstacles and walls in the surroundings of the robot, and environment features are estimated using a set of range sensors data. The experimental mobile robot uses incremental encoders mounted on the wheels to locate itself in a small area. Using these sensors, some intelligent behaviors, such as wall following and obstacle rounding, have been implemented. Upon these behavior modules, the behavior control system is constructed for sensory navigation without any environment map and global self-localization. The experimental results show that the mobile robot can carry out a navigation task, even when the robot knows little about the environment.