Wall following navigation algorithm for a disinfecting robot

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 rob...

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Bibliographic Details
Published in2022 19th International Conference on Ubiquitous Robots (UR) pp. 343 - 346
Main Authors Joo, Kyeong-Jin, Bae, Sang-Hyeon, Ghosh, Arpan, Park, Hyun-Jin, Kuc, Tae-Yong
Format Conference Proceeding
LanguageEnglish
Published IEEE 04.07.2022
Subjects
Drives
Heuristic algorithms
Navigation
Path planning
Robot sensing systems
Simultaneous localization and mapping
Stars
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Summary: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.
DOI:10.1109/UR55393.2022.9826258