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Wall Following Control for Robots

This document discusses a new controller to allow a mobile robot to follow walls. The controller works by using infrared sensors to estimate the position of a wall, computing vectors tangent and perpendicular to the wall, combining these vectors to determine the robot's steering direction, and maintaining a spacing distance from the wall. The controller is able to follow walls reasonably well on inside corners but has more problems with outside corners. Students are instructed to implement the logic and math for this wall-following controller in a specific MATLAB file.

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103 views10 pages

Wall Following Control for Robots

This document discusses a new controller to allow a mobile robot to follow walls. The controller works by using infrared sensors to estimate the position of a wall, computing vectors tangent and perpendicular to the wall, combining these vectors to determine the robot's steering direction, and maintaining a spacing distance from the wall. The controller is able to follow walls reasonably well on inside corners but has more problems with outside corners. Students are instructed to implement the logic and math for this wall-following controller in a specific MATLAB file.

Uploaded by

jcvoscrib
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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Following Walls

Control of Mobile Robots: Programming & Simulation Week 6


Jean-Pierre de la Croix
ECE Ph.D. Candidate
Georgia Inst. of Technology

Overview

This week we will add a new controller to follow walls.


1. Estimate a section of a wall (obstacle) using the IR sensors.
2. Compute a vector tangential to the wall and perpendicular to the
wall.
3. Combine the two vectors and steer in the direction of this new
vector.

Jean-Pierre de la Croix - Control of Mobile Robots: Programming & Simulation Week 6

Estimating the Wall


To follow wall on the left,
use two (of three) left IR
sensors with shortest
distance measured.

u gtg

u fw,t p2 p1

uao
2

Jean-Pierre de la Croix - Control of Mobile Robots: Programming & Simulation Week 6

Maintaining Spacing from the Wall


We can find a vector from
the robot to the closest
point on u_fw_tp.

u gtg

ua p1

u 'fw,t

u fw,t
u fw,t

x
up
y

uao

u fw, p ua u p ((ua u p ) u 'fw,t )u 'fw,t


3

Jean-Pierre de la Croix - Control of Mobile Robots: Programming & Simulation Week 6

Maintaining Spacing from the Wall


u gtg

u 'fw, p u fw, p d fw

u fw, p Find a vector that points in


u fw, p

u fw, p

d fw

uao
4

the opposite direction of


u_fw_p and weighed by
the distance we want to
maintain from the wall.

u fw, p
u fw, p

Jean-Pierre de la Croix - Control of Mobile Robots: Programming & Simulation Week 6

Combining Vectors
Sum the two vectors into a
single vector.

u gtg

u fw u 'fw,t u 'fw, p
u fw

Steer robot to orientation of


u_fw.

uao
5

Jean-Pierre de la Croix - Control of Mobile Robots: Programming & Simulation Week 6

How well does this work?


Not the best estimate on
inside corners, but OK.

Jean-Pierre de la Croix - Control of Mobile Robots: Programming & Simulation Week 6

How well does this work?


Outside corners are more
problematic. We need a
good d_fw.

Jean-Pierre de la Croix - Control of Mobile Robots: Programming & Simulation Week 6

Implementation
Implement the missing logic and math in the following file:
+simiam/+controller/FollowWall.m

Controller accepts left and


right as input denoting the
side of the robot on which
to follow the wall.

Jean-Pierre de la Croix - Control of Mobile Robots: Programming & Simulation Week 6

Tips

Refer to the section for Week 6 in the manual for more


details!
Experiment with different d_fw and combinations of the
vectors u_fw_t and u_fw_p.

Jean-Pierre de la Croix - Control of Mobile Robots: Programming & Simulation Week 6

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