Vision-based 3-D trajectory tracking for unknown environments
IEEE Transactions on Robotics
A neuro-fuzzy controller for mobile robot navigation and multirobotconvoying
IEEE Transactions on Systems, Man, and Cybernetics, Part B: Cybernetics
Online tuning of fuzzy inference systems using dynamic fuzzy Q-learning
IEEE Transactions on Systems, Man, and Cybernetics, Part B: Cybernetics
Fuzzy target tracking control of autonomous mobile robots by using infrared sensors
IEEE Transactions on Fuzzy Systems
Associative model for solving the wall-following problem
MCPR'12 Proceedings of the 4th Mexican conference on Pattern Recognition
The problem of boundary following by a unicycle-like robot with rigidly mounted sensors
Robotics and Autonomous Systems
A Method of Boundary Following by a Wheeled Mobile Robot Based on Sampled Range Information
Journal of Intelligent and Robotic Systems
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Wall-following is an effective and economical approach for a robot to navigate in an environment where physical features like walls exist as natural references for its movements. During the robot's wall-following process where the working space is limited and unstructured, cost effective proximity sensors (sonar or infrared) are more suitable than other expensive sensors (like visions) to feedback the states of the robot and its surroundings to the controller. In this article, a wall-following control approach is proposed for a wheeled mobile robot equipped with group of infrared sensors. The linear and angular positions of the robot with respect to the wall are derived by processing the readings of the sensors. A method to detect the discontinuity of the wall is also presented. The controller is designed with Lyapunov method whose asymptotical stability is guaranteed. The effectiveness of the proposed approach is proved and verified by an initial experimental study.