Wall Following Using Angle Information Measured by a Single Ultrasonic Transducer

Teruko Yata, Lindsay Kleeman, and Shin'ichi Yuta
Proceedings of the 1998 IEEE International Conference on Robotics and Automation, May, 1998, pp. 1590-1596..


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Abstract
Conventional wall following with an ultrasonic sensor uses only range data to the nearest reflecting point. However, the bearing angle information to the wall is more useful for a wall following motion. In this paper, we propose a simple wall following algorithm, where the robot moves perpendicular to the direction to the nearest reflecting point. Also, in conventional ultrasonic pulse-echo sensing, an accurate target bearing measurement is often regarded as difficult due to the wide directivity of ultrasonic transducers. However, by assuming that the ultrasonic echo returns from a single direction, the bearing angle can be measured. A new sensing method is also proposed to determine accurately the bearing angle to the reflecting point by a single ultrasonic transducer. This paper also presents experimental results from mobile robot wall following experiments using only bearing information measured by a single ultrasonic transducer. These experiments illustrate the effectiveness of proposed method.

Notes

Text Reference
Teruko Yata, Lindsay Kleeman, and Shin'ichi Yuta, "Wall Following Using Angle Information Measured by a Single Ultrasonic Transducer," Proceedings of the 1998 IEEE International Conference on Robotics and Automation, May, 1998, pp. 1590-1596..

BibTeX Reference
@inproceedings{Yata_1998_3801,
   author = "Teruko Yata and Lindsay Kleeman and Shin'ichi Yuta",
   title = "Wall Following Using Angle Information Measured by a Single Ultrasonic Transducer",
   booktitle = "Proceedings of the 1998 IEEE International Conference on Robotics and Automation",
   pages = "1590-1596.",
   month = "May",
   year = "1998",
}