Title :
Mobile robot navigation by wall following using a rotating ultrasonic scanner
Author :
Holder, Martin B. ; Trivedi, Mohan M. ; Marapane, Suresh B.
Author_Institution :
Dept. of Electr. & Comput. Eng., California Univ., San Diego, La Jolla, CA, USA
Abstract :
This paper presents a wall following algorithm for a mobile robot. The robot uses range information provided by a single rotating ultrasonic transducer. Experimental evaluations have shown that the algorithm is capable of navigating and dealing with a variety of wall structures typically encountered in an indoor environment
Keywords :
navigation; indoor environment; mobile robot navigation; rotating ultrasonic scanner; wall following; Communication system control; Control systems; Hardware; Indoor environments; Mobile robots; Multiplexing; Navigation; Portable computers; Ultrasonic transducers; Wheels;
Conference_Titel :
Pattern Recognition, 1996., Proceedings of the 13th International Conference on
Conference_Location :
Vienna
Print_ISBN :
0-8186-7282-X
DOI :
10.1109/ICPR.1996.546959
