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A Novel Wall Following Algorithm For Mobile Robots
Min Raj Nepali, Nishesh Yadav, Dubey Aditya Housila Prasad, Susheel Balasubramaniah, Venkatesh EN, Ashutosh
Pages - 15 - 23     |    Revised - 10-09-2014     |    Published - 10-10-2014
Volume - 5   Issue - 2    |    Publication Date - October 2014  Table of Contents
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KEYWORDS
Kinematic Controller, 2D Laser Range Finder, Autonomous Mobile Robot, Edge Detection, Corner Detection, Wall Following.
ABSTRACT
This paper presents how a mobile robot can be directed to follow a wall using 2D data obtained with the help of a laser range finder. The robot is controlled using a simple kinematic controller and the controller is embedded in NXP LPC1768 microcontroller. The controller guides the robot to follow the wall along the required direction while maintaining a constant distance from the wall. The data obtained from the laser range finder is analyzed and processed to generate signals to control the speed as well as orientation of the robot. Implementation results show that the proposed algorithm controls the robot to follow walls, detecting the edges and corners successfully.
CITED BY (1)  
1 Purbarani, S. C., A’yunina, Q., Ma’sum, M. A., & Rachmadi, M. F. (2015). Simulation of landmark approach for wall following algorithm on fire-fighting robot using v-rep. jurnal ilmu komputer dan informasi, 8(2), 105-115.
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Mr. Min Raj Nepali
Nitte Meenakshi Institute of Technology - India
nminraj92@gmail.com
Mr. Nishesh Yadav
Nitte Meenakshi Institute of Technology - Nepal
Mr. Dubey Aditya Housila Prasad
Nitte Meenakshi Institute of Technology - India
Mr. Susheel Balasubramaniah
Nitte Meenakshi Institute of Technology - India
Mr. Venkatesh EN
Nitte Meenakshi Institute of Technology Bangalore, 560064,India - India
Mr. Ashutosh
Nitte Meenakshi Institute of Technology - India