TRAJECTORY TRACKING CONTROL OF MOBILE ROBOT MOVING ALONG WALL USING SINGLE LASER RANGE FINDER

摘要

In this study, a trajectory tracking control method of a mobile robot moving along a wall is proposed. The trajectory tracking control method consists of three control methods. The first one is a method that controls the mobile robot to move along a wall maintained constant. The second one is a method that controls the mobile robot to move along a wall in case of the wall direction changes. The third one is obstacle avoidance on a path. To measure a distance between the mobile robot and the wall, the changing direction of the wall and obstacles, we use a laser range finder. We developed a mobile robot which has two-driven wheels and the LRF to confirm the proposed method.