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

页码：343 / 346

页数：4

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