A Novel Wall Following Algorithm For Mobile Robots

This paper presents how a mobile robot can be directed to follow a wall using 2D data obtained with the help of a laser range finder. The robot is controlled using a simple kinematic controller and the controller is embedded in NXP LPC1768 microcontroller. The controller guides the robot to follow the wall along the required direction while maintaining a constant distance from the wall. The data obtained from the laser range finder is analyzed and processed to generate signals to control the speed as well as orientation of the robot. Implementation results show that the proposed algorithm controls the robot to follow walls, detecting the edges and corners successfully