Design and implementation of Active Object Computing Model for a wall following mobile robot

Wall following is a behavior which navigates a robot through an area, by sticking to the nearest wall without turning into it This behavior is very useful for a mobile robot with no odometer but has to cover an area. This paper proposes the design and implementation of Active Object Computing Model for a wall following mobile robot. Active Object Computing Model is a combination of event driven framework and hierarchical state machines. It divides wall following behavior into several action states and each state will only active because of distance event arrival. The measured distances between robot and its environment are also calculated concurrently, hence the robot will change to the appropriate state immediately. The result shows that the robot is able to appropriately activate the state based on its situation and runs wall following behavior smoothly.