Control of Sensorless Mobile Robots Using External Sensors
Dražen Brščić, Hideki Hashimoto · 2006
In this paper we present an implementation of control of wheeled mobile robots using only external sensors. Although onboard sensors can provide additional information about the robot’s environment, we wish to prove that in a space equipped with ubiquitous distributed sensors, such as the Intelligent Space, it is possible to efficiently control even a sensorless mobile robot. In the paper we describe our tracking and mapping method using an ultrasound positioning system and multiple laser range finders, and the motion control method used in the experiments. The presented experimental result confirms the validity of this approach.