Following a Wall by an Mobile Robot with Sonar Sensors and Infrared Sensors

초음파센서와 적외선센서를 갖는 이동로봇의 벽면 따르기

This paper proposes an effective algorithm for following a wall by an autonomous mobile robot with sonar sensors and infrared sensors in an indoor environment. The proposed method uses deadreckoning to estimate the current position and orientation of a mobile robot. Sonar sensor data are used to estimate shape and position of wall using proposed algorithm. Infrared sensor data are used as assistant when sonar sensor data is uncertain. Simulation results using mobile robot show that the proposed algorithm is proper for the following wall.