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Mobile robot using ultrasonic sensors: study of a degraded mode

Published online by Cambridge University Press:  09 March 2009

P. Blazevic ,
S. Delaplace ,
J. G. Fontaine  and
J. Rabit
P. Blazevic
Affiliation:
L.R.P.: Laboratoire de Robotique de Paris, CNRS, Université P. et M. Curie, 4 place Jussieu 75229 Paris Cedex 05 (France)
S. Delaplace
Affiliation:
L.R.P.: Laboratoire de Robotique de Paris, CNRS, Université P. et M. Curie, 4 place Jussieu 75229 Paris Cedex 05 (France)
J. G. Fontaine
Affiliation:
L.R.P.: Laboratoire de Robotique de Paris, CNRS, Université P. et M. Curie, 4 place Jussieu 75229 Paris Cedex 05 (France)
J. Rabit
Affiliation:
L.R.P.: Laboratoire de Robotique de Paris, CNRS, Université P. et M. Curie, 4 place Jussieu 75229 Paris Cedex 05 (France)
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Summary

In this paper, we develop a method for mobile robot control using ultrasonic sensors to determine displacement constraints between two parallel planes. Robot control has been simulated for this situation. Results obtained by simulation and experimentation are presented. A degraded mode which considers the use of one valid ultrasonic sensor is studied. In this case, a new model is developed and new results are analyzed.

Keywords

Mobile robotWheeled controlModelingUltrasonic Sensors
Type
Article
Information
Robotica , Volume 9 , Issue 4 , December 1991 , pp. 365 - 370
Copyright
Copyright © Cambridge University Press 1991

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References

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