S. Furuno, K. Yanagi, M. Kobayashi, and G. Hirano (Japan)
Mobile Robot, Trajectory Tracking Control, Wall, Obstacle, Laser Range Finder
In this study, a trajectory tracking control method of a mobile robot moving along a wall is proposed. The trajectory tracking control method consists of three control methods. The first one is a method that controls the mobile robot to move along a wall maintained constant. The second one is a method that controls the mobile robot to move along a wall in case of the wall direction changes. The third one is obstacle avoidance on a path. To measure a distance between the mobile robot and the wall, the changing direction of the wall and obstacles, we use a laser range finder. We developed a mobile robot which has two-driven wheels and the LRF to confirm the proposed method.
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