Mobile Robot Path Control Using Landmark Information
Gabriela Werner Gabriel, Cairo Lúcio Nascimento Jr, Eduardo Hisasi Yagyu · 2005
This paper is concerned with the design, assembly and testing of an autonomous mobile robot named ROMEO III. This robot was designed to follow a planned trajectory by combining data from odometry sensors with landmark information. The odometry sensors are optical encoders built in auxiliary wheels. The landmark information is acquired by 5 infrared sensors that are used to detect white line segments on a black floor. A path control algorithm is then proposed and evaluated. The experimental results show that the proposed path control algorithm successfully avoids the accumulation of the odometry errors and the autonomous mobile robot follows the planned trajectory with small errors.