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JRM Vol.8 No.1 pp. 33-39
doi: 10.20965/jrm.1996.p0033
(1996)

Paper:

A Reactive Wall Following Algorithm and Its Behavior of an Autonomous Mobile Robot with Sonar Ring

Yoshinobu Ando, Takashi Tsubouchi and Shin’ichi Yuta

Intelligent Robot Laboratory, Institute of Information Science and Electronics, University of Tsukuba, Tsukuba, Ibaraki 305 Japan

Received:
January 6, 1996
Accepted:
January 16, 1996
Published:
February 20, 1996
Keywords:
Wall following, Sonar ring, Autonomous mobile robot
Abstract

A robust wall following algorithm for an autonomous mobile robot with a sonar ring is presented. A sonar ring consists of multiple ultrasonic range sensors which are arranged on a disc. The proposed wall-following algorithm has an ability to make a robot follow walls in various shapes. The algorithm is described as a collection of reactions based on the data from the sonar ring. The autonomous mobile robot “Yamabico” is used to demonstrate the experimental behaviors of the proposed algorithm. Several experimental examples of the behaviors with this autonomous mobile robot are illustrated in this paper.

Cite this article as:
Yoshinobu Ando, Takashi Tsubouchi, and Shin’ichi Yuta, “A Reactive Wall Following Algorithm and Its Behavior of an Autonomous Mobile Robot with Sonar Ring,” J. Robot. Mechatron., Vol.8, No.1, pp. 33-39, 1996.
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