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| Wall following Navigation Control for a Sonar-based Mobile Robot |
| WANG Dong-yao, MA Xu-dong, DAI Xian-zhong |
| Department of Automatic Control, Southeast University, Nanjing 210096, China |
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Abstract In this paper, an algorithm is proposed for mobile robot to follow walls. Firstly the wall shapes of the indoor environment are classified into different types for which wall-following strategies are designed respectively. When the mobile robot moves, the wall-following status changes, based on Finite State Machine(FSM), then the corresponding wall-following strategy is chosen to control the mobile robot. Experiments on the Pioneer 2DX mobile robot are conducted to evaluate the performance of the algorithm, and good results are obtained.
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Received: 28 December 2003
Published: 15 July 2004
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