Wall following control of a mobile robot without orientation sensor

Ananta Adhi Wardana, Augie Widyotriatmo, S. Suprijanto, Arjon Turnip

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

7 Citations (Scopus)

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.

Original languageEnglish
Title of host publicationProceedings of 2013 3rd International Conference on Instrumentation, Control and Automation, ICA 2013
PublisherIEEE Computer Society
Pages212-215
Number of pages4
ISBN (Print)9781467357982
DOIs
Publication statusPublished - 2013
Externally publishedYes
Event2013 3rd International Conference on Instrumentation, Control and Automation, ICA 2013 - Kuta, Bali, Indonesia
Duration: 28 Aug 201330 Aug 2013

Publication series

NameProceedings of 2013 3rd International Conference on Instrumentation, Control and Automation, ICA 2013

Conference

Conference2013 3rd International Conference on Instrumentation, Control and Automation, ICA 2013
Country/TerritoryIndonesia
CityKuta, Bali
Period28/08/1330/08/13

Keywords

  • Lyapunov method
  • Mobile robot control
  • Orientation sensor
  • Sonar sensors
  • wall following

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