WALL-FOLLOWING STABLE CONTROL FOR WHEELED MOBILE ROBOTS

In this paper, a mobile robot control law for wall-following based on laser and odometric sensorial information is proposed. The design of the controller takes into account possible variations in the contour of the wall to be followed. Furthermore, it is given an expression that contemplates the saturation of the actuators. The asymptotic stability of the control system is proved by using Lyapunov theory. Experimental results on a mobile robot are presented to show the performance of the proposed control algorithm.