Leader- follower formation control with obstacle avoidance using sonarequipped mobile robots

被引：15

作者：

Fujimori, Atsushi ^{[1
]}

Kubota, Hiroshi ^{[1
]}

Shibata, Naoya ^{[1
]}

Tezuka, Yoshinari ^{[1
]}

机构：

[1] Univ Yamanashi, Dept Mech Engn, Kofu, Yamanashi 4008511, Japan

来源：

PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART I-JOURNAL OF SYSTEMS AND CONTROL ENGINEERING | 2014年 / 228卷 / 05期

关键词：

Formation control; mobile robots; obstacle avoidance; position estimation; NAVIGATION; TEAMS;

D O I：

10.1177/0959651813517682

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This article presents a leader-follower formation control of sonar-equipped mobile robots in obstacle scattered environments. The follower robots need to distinguish the leader robot from obstacles by using multiple sonars. In this article, multiple sonars equipped on the follower robots are adaptively assigned to either tracking the leader robot or detecting obstacles. Furthermore, the position of the leader robot is estimated by the follower robots to improve the accuracy of the relative distance and angle. The effectiveness of the proposed techniques is examined in experiments using real mobile robots Pioneer 1 and Pioneer 2.

引用

页码：303 / 315

页数：13

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