Wall following navigation algorithm for a disinfecting robot

Abstract

This paper introduces the advanced wall following navigation using various distance sensors and navigation methods for a disinfecting robot. Based on distance data from the lidar sensor, we propose the virtual distance data so that a mobile robot can rotate reliably wall following navigation and robot can drive stably by preprocessing distance data and using the PID controller. In addition, we suggested a way for the mobile robot using active slams to return from start position to original position through pseudo code. Finally, through simulation and real-world experiments, we verified the stability of the mobile robot's wall following navigation in the simulation and real world.