Survey of mobile robot navigation methods using ultrasonic sensors

Daniel P. Stormont, Chaouki T. Abdallah, Raymond H. Byrne, Gregory L. Heileman

Research output: Contribution to conferencePaperpeer-review

2 Scopus citations

Abstract

Successful navigation is one of the most difficult tasks for a mobile robot to undertake. In this paper, we survey a number of published mobile robot navigation schemes that make use of ultrasonic sensors. Ultrasonic sensors were selected as the basis for comparison because of their widespread availability and relatively low cost. The specific approach for this survey is to summarize the published navigation methods that appear to have the most applicability to use in a small mobile robot. This includes summarizing the strengths and weaknesses of the approach, as described by the authors, and assigning relative weights to each method. The highest-ranking methods are selected for simulation to further differentiate between the relative performances of each method. Three of the most promising methods are then implemented on a mobile robot and tested. Finally, we have included our recommendations concerning the suitability of each of the implemented navigation methods for a particular task.

Original languageEnglish (US)
Pages244-250
Number of pages7
StatePublished - 1998
Externally publishedYes
EventProceedings of the 1998 3rd ASCE Specialty Conference on Robotics for Challenging Environments - Albuquerque, NM, USA
Duration: Apr 26 1998Apr 30 1998

Conference

ConferenceProceedings of the 1998 3rd ASCE Specialty Conference on Robotics for Challenging Environments
CityAlbuquerque, NM, USA
Period4/26/984/30/98

ASJC Scopus subject areas

  • Engineering(all)

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