激光雷达壁跟踪算法：自主移动机器人环境感知与行为控制

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本文档探讨了一种针对反应式自主移动机器人（Reactive Autonomous Mobile Robot）的壁跟随算法，特别是在应用激光扫描器进行环境感知的情况下。作者Ana Rafael Porto和Cassio Santos来自葡萄牙的FE.UP，他们共同开发了这个算法，旨在让两轮自主机器人在诸如智能检查、安全巡逻和场馆服务等场景中实现壁跟随功能。壁跟随算法的核心在于其对环境的感知能力，利用安装在机器人顶部前端的激光扫描器进行持续扫描。该算法的工作流程是：当机器人处于自由探索状态时，会随机游走，一旦检测到墙壁，它将立即启动壁跟随模式。在这个模式下，通过实施比例控制，机器人能保持与墙壁的恒定距离，无论是外部的“V”形还是内部的“W”形墙壁。值得注意的是，这种系统设计为一种反应式机器人，这意味着它无需预设墙壁模型，而是能够根据未知环境做出实时响应。为了验证算法的有效性和鲁棒性，作者进行了多环境下的实验，包括各种墙壁探测和跟随任务，以确保机器人行为的正确和稳定。研究的关键术语包括"Autonomous Mobile Robots"（自主移动机器人）、"Laser Scanner Sensor"（激光扫描传感器）、"Wall Following Algorithm"（壁跟随算法）以及"Proportional Control"（比例控制）。这项工作不仅提升了机器人的导航性能，也展示了在复杂环境中的智能决策能力，对于提高机器人在实际应用中的适应性和实用性具有重要意义。

Wall-following algorithm for reactive autonomous

mobile robot with laser scanner sensor

Ana Rafael

Porto, Portugal

up201405377@fe.up.pt

assio Santos

Porto, Portugal

up201802025@fe.up.pt

Abstract—Mobile robots with wall-following capacity can be

used in a number of applications, such as intelligent inspection,

security patrol and venue service. In this paper, we present the

implementation of a wall-following algorithm for an autonomous

mobile 2 wheeled robot with a laser scanner. The perception of

the environment is achieved with a scan laser, attached to the top-

front part of the robot. The proposed wall-following algorithm

makes a robot wander at random until a wall is found, then

follows the wall - through an implemented proportional control

to keep a constant distance from it - in the outside and inside of

a V” and ”W” shaped wall, respectively. The system consists of

a reactive robot since it responds to an unknown environment

without the need for wall modelling. Experiments were conducted

in terms of wall ﬁnding and following in various environments

for the production of correct and robust robot behaviour.

Index Terms—Autonomous navigation, Mobile robots, Reactive

robot, Wall-following

I. INTRODUCTION

Autonomous mobile robots have a wide range of applica-

tions, namely as sweeping robots, inspection robots, service

robots among other possibilities. Wall-following behaviour

is among one of the most used navigation methods in au-

tonomous robots. It consists in the ability to move along con-

tours of walls and edges wile maintaining a safe and constant

distance from it [1]. Most frequently this practice is achieved

with distance sensors, such as ultrasonic or laser sensors.

Such algorithms can be used as part of indoor environment’s

circulation control, maze solving and environment exploration

[2]. Some problems in wall-following control are related with

noisy data from the sensor, thus in the designed algorithm a

mean of the wall distance measurements was considered. For

the past few decades several algorithms have been proposed

for wall-following. One of the most common category of these

algorithms is related with reactive robot. Table I comprises a

summary of the most relevant published papers in the ﬁeld of

wall-following algorithms for reactive robot.

In this paper a wall-following control of a mobile robot

is presented with the use of a laser sensor. The considered

robot is a deferentially steered robot; with two wheels driven

independently. Thus in the next chapter an analysis of existing

solutions for wall following used sensors and algorithms are

presented. This document is organised by ﬁrst presenting

the used robot and machine states in section II, the virtual

environment assessment is presented in section III. In section

IV, the implemented algorithm for laser reading treatment and

TABLE I: Wall following algorithms and sensors .

Author

(Year)

Sensor Method Notes

Turennout

et al.

(1992)

Sonar

Sensor

Straight wall

following

Ando

et al.

(1995)

12 sonar

sensors

Finite-state

machine

No wall ﬁnding and

object collision avoid-

ance [3].

Carelli

et al.

(2003)

Sonar and

odometry

sensor

Corridor nav-

igation; wall-

following; ob-

ject avoidance.

State variables com-

bine the information

from the two sensors.

Toibero

et al.

(2009)

Laser

radar

sensor

and

odometry

Continuous

wall-following

controller,

obstacle

avoidance

with switching

scheme

Has no saturation of

angular velocity. Only

the steering angle is

controlled. Slow av-

erage speed of wall-

following (15cm/s).

Charifa

et al.

(2009)

Boundary-

following

algorithm

Artiﬁcial

potential ﬁelds

Has the local minima

problem. Needs prior

knowledge of the envi-

ronment.

Wei

et al.

(2017)

Laser

range

ﬁnder

Wall-following

and obstacle

avoidance

Move along a virtual

wall smoothly at adap-

tively adjusted speed

[1].

different virtual wall conﬁgurations is exposed and the results

are given in section V. Finally, a discussion of the developed

approach and future research is summarised.

II. SYSTEM STRUCTURE

The proposed algorithm ﬂow is represented in Fig. 1. Thus,

the systems produces an action in response to a stimulus

of the environment. The admissible robot state machines are

1) Random wandering, for the initial state in which all the

sensor readings are further than 5m and the robot wonders

randomly; 2) Following wall, for the case where the robot has

found a wall, thus state (1) is not veriﬁed; 3) Rotating, in the

event of veriﬁcation of positioning patters detailed in section

IV-C. Thus, the developed algorithm is much dependent on the

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