Improved boundary following for a mobile robot with limited sensing employing particle filters and path planning
Michael C. Hoy, Waqqas Ahmad · 2014
In this paper, we propose a control law for navigating a robot along the boundary of a stationary obstacle, where the only sensor information available is the minimum distance to the obstacle. Using a particle filter, the curvature profile of the obstacle around the observed point is estimated on-line. Safety is ensured by performing local path planning inside an area guaranteed to be safe. The method allows the vehicle's speed to be adjusted in response to the changing boundary of the obstacle. Simulations confirm the validity of the method.