Thermal path following robot vehicle: Sensor design and motion control

Lindsay Kleeman, R. Andrew Russell

Research output: Chapter in Book/Report/Conference proceedingConference PaperResearchpeer-review

1 Citation (Scopus)


This paper introduces the concept of Short-Lived Navigational Markers (SLNM's) which represent a group of techniques for indicating the path taken by a mobile robot. Information provided by marking the robot trajectory can be of direct assistance in a number of navigation tasks. The short-lived nature of the markers has the advantage that it is not necessary to remove them after use. However, the varying intensity of the SLNM's complicates the process of detecting and following the robot path. Heat is one form of SLNM which we are investigating and this paper describes a pyroelectric sensor which has been developed to detect thermal paths created by heating the floor with a quartz halogen bulb. Three control strategies for following the thermal trail have been developed and tested. A strategy based on Kalman filtering gives the best performance. Details of the control strategies are presented in this paper together with experimental results showing how they performed in practice.

Original languageEnglish
Title of host publication1993 Int Conf Intell Rob Syst
PublisherIEEE, Institute of Electrical and Electronics Engineers
Number of pages5
ISBN (Print)0780308239
Publication statusPublished - 1 Dec 1993
EventIEEE/RSJ International Conference on Intelligent Robots and Systems 1993 - Yokohama, Jap
Duration: 26 Jul 199330 Jul 1993 (Proceedings)


ConferenceIEEE/RSJ International Conference on Intelligent Robots and Systems 1993
Abbreviated titleIROS 1993
CityYokohama, Jap
Internet address

Cite this