Wall following Navigation Control for a Sonar-based Mobile Robot

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.