Wall following navigation algorithm for a disinfecting robot

被引：1
|
作者：
Joo, Kyeong-Jin [1 ]
Bae, Sang-Hyeon [1 ]
Ghosh, Arpan [1 ]
Park, Hyun-Jin [1 ]
Kuc, Tae-Yong [1 ]
机构：
[1] Sungkyunkwan Univ, Dept Elect & Comp Engn, Coll Informat & Commun Engn, Suwon 16419, South Korea
来源：
2022 19TH INTERNATIONAL CONFERENCE ON UBIQUITOUS ROBOTS (UR) | 2022年
关键词：
D O I：
10.1109/UR55393.2022.9826258
中图分类号：
TP24 [机器人技术];
学科分类号：
080202 ; 1405 ;
摘要：
This paper introduces the advanced wall following navigation using various distance sensors and navigation methods for a disinfecting robot. Based on distance data from the lidar sensor, we propose the virtual distance data so that a mobile robot can rotate reliably wall following navigation and robot can drive stably by preprocessing distance data and using the PID controller. In addition, we suggested a way for the mobile robot using active slams to return from start position to original position through pseudo code. Finally, through simulation and real-world experiments, we verified the stability of the mobile robot's wall following navigation in the simulation and real world.
引用
收藏
页码：343 / 346
页数：4
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