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
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;
Conference_Titel :
Instrumentation Control and Automation (ICA), 2013 3rd International Conference on
Conference_Location :
Ungasan
Print_ISBN :
978-1-4673-5795-1
DOI :
10.1109/ICA.2013.6734074
