Corridor following based on the fusion of redundant control signals

EDUARDO FREIRE; CARLOS SORIA; RICARDO CARELLI

Salvador de Bahía, Brasil

Congreso; XII Congreso Latinoamericano de Control Automático; 2006

Sociedad Brasileira de Automática

This work presents a control strategy for mobile robots navigating in corridors, using the fusion of the control signals from two instances of the same controller: one is based on the perspective lines of the corridor (the projection of lines formed by the intersection of the walls and the floor) and the other is based on distance measurements performed by ultrasonic sensors. Both controllers generate angular velocity commands to keep the robot navigating along the corridor, and compensate for the dynamics of the robot. The fusion of both control signals is made using a Decentralized Information Filter - DIF. Experiments on a laboratory robot are presented to show the feasibility and performance of the proposed controller.