Stable switching contour-following controller for wheeled mobile robots

• Published in: Proceedings 2006 IEEE International Conference on Robotics and Automation, 2006. ICRA 2006 pp. 3724 - 3729
• Main Authors: Toibero, J.M., Carelli, R., Kuchen, B.
• Format: Conference Proceeding
• Language: English
• Published: IEEE 2006
• Subjects: Automatic control; Communication switching; Communication system control; Control systems; Mobile robots; Robot control; Robot sensing systems; Size control; Stability analysis; Switching systems

In this paper a switching controller for mobile robots is presented that allows the contour-following of objects the size of which is at least comparable to that of the robot. The controller uses the information from distance sensors and is based on a wall-following controller described in the paper...