Wall Following using Ultrasonic Sensor for Robot Cleaner

The investigation of indoor navigation system presents an intriguing study especially in the field of floor cleaning robot research. Experiments involving wall detection and motion control test demonstrate that the robot can be implemented for domestic purpose. This experiment is conducted for verifying the performance of ultrasonic sensor. Robot is placed near the wall and the sensor value output is observed. The robot is tested in ten points along the wall. The test is performed to evaluate sensor accuracy while maintaining close proximity to the wall. This hallway provides a challenging task for the robot since the distance between robot and wall is not constant. While the hallway wide is about 2 meter, the doors and building concrete column are expected to provide various sensor measurement result. The result shows relative linear association of actual distance with sensor value. First column of the table conveys sensor 1 distance measurement data from ten points along hallway. The average measured distance value is 38.928 cm. While the real distance value between robot and wall is 40 cm, the average distance error is 1.072 cm. Another result from the observation was that sensor 2, 3 and 4 measurement data has provided slightly better accuracy than other sensors with error margin 0.074, 0.01, and 0.302 respectively.