Corridor navigation and wall-following stable control for sonar-based mobile robots

Abstract In this paper, a mobile robot control law for corridor navigation and wall-following, based on sonar and odometric sensorial information is proposed. The control law allows for stable navigation avoiding actuator saturation. The posture information of the robot travelling through the corridor is estimated by using odometric and sonar sensing. The control system is theoretically proved to be asymptotically stable. Obstacle avoidance capability is added to the control system as a perturbation signal. A state variables estimation structure is proposed that fuses the sonar and odometric information. Experimental results are presented to show the performance of the proposed control system.

[1]  Oscar Nasisi,et al.  Stable AGV corridor navigation with fused vision-based control signals , 2002, IEEE 2002 28th Annual Conference of the Industrial Electronics Society. IECON 02.

[2]  Teodiano Freire Bastos Filho,et al.  A NEW MOBILE ROBOT CONTROL ARCHITECTURE VIA CONTROL OUTPUT FUSION , 2002 .

[3]  Ben J. A. Kröse,et al.  Navigation of a mobile robot on the temporal development of the optic flow , 1997, Proceedings of the 1997 IEEE/RSJ International Conference on Intelligent Robot and Systems. Innovative Robotics for Real-World Applications. IROS '97.

[4]  Arthur G. O. Mutambara,et al.  Decentralized Estimation and Control for Multisensor Systems , 2019 .

[5]  Wen-Hsiang Tsai,et al.  Viewing corridors as right parallelepipeds for vision-based vehicle localization , 1999, IEEE Trans. Ind. Electron..

[6]  M. Vidyasagar,et al.  Nonlinear systems analysis (2nd ed.) , 1993 .

[7]  Giulio Sandini,et al.  Divergent stereo in autonomous navigation: From bees to robots , 1995, International Journal of Computer Vision.

[8]  C. A. Desoer,et al.  Nonlinear Systems Analysis , 1978 .

[9]  A. Fern,et al.  Visual Navigation: Combining visual servoing and appearance based methods , 1998 .

[10]  Richard A. Brown,et al.  Introduction to random signals and applied kalman filtering (3rd ed , 2012 .

[11]  M. Sarcinelli-Filho,et al.  Mobile robot navigation based on the fusion of control signals from different controllers , 2001, 2001 European Control Conference (ECC).

[12]  A. Bemporad,et al.  Wall-following controllers for sonar-based mobile robots , 1997, Proceedings of the 36th IEEE Conference on Decision and Control.

[13]  Ricardo O. Carelli,et al.  A class of nonlinear PD-type controllers for robot manipulators , 1996, J. Field Robotics.

[14]  Yoram Koren,et al.  The vector field histogram-fast obstacle avoidance for mobile robots , 1991, IEEE Trans. Robotics Autom..

[15]  Vicente Mut,et al.  Algorithms for stable control of mobile robots with obstacle avoidance , 1999 .

[16]  Jurek Z. Sasiadek,et al.  Odometry and Sonar Data Fusion for Mobile Robot Navigation , 2000 .