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

共 50 条

[21] Hybrid Formation Control of Multiple Mobile Robots with Obstacle Avoidance [J].

Yang, Fan ;

Liu, Fei ;

Liu, Shirong ;

Zhong, Chaoliang .

2010 8TH WORLD CONGRESS ON INTELLIGENT CONTROL AND AUTOMATION (WCICA), 2010, :1039-1044

[22] Adaptive Neuro-Fuzzy Formation Control for Leader-Follower Mobile Robots [J].

Lin, Hung-Wei ;

Chan, Wei-Shou ;

Chang, Chia-Wen ;

Yang, Cheng-Yuan ;

Chang, Yeong-Hwa .

INTERNATIONAL JOURNAL OF FUZZY SYSTEMS, 2013, 15 (03) :359-370

[23] Mobile Robots Cooperative Control and Obstacle Avoidance Using Potential Field [J].

Rezaee, Hamed ;

Abdollahi, Farzaneh .

2011 IEEE/ASME INTERNATIONAL CONFERENCE ON ADVANCED INTELLIGENT MECHATRONICS (AIM), 2011, :61-66

[24] Formation Control of Moblie Robots with Obstacle Avoidance [J].

Miyazaki, Tatsuya ;

Takaba, Kiyotsugu .

2014 14TH INTERNATIONAL CONFERENCE ON CONTROL, AUTOMATION AND SYSTEMS (ICCAS 2014), 2014, :121-126

[25] Obstacle Detection and Avoidance For Mobile Robots Using Monocular Vision [J].

Nagarajan, Venkat Raman ;

Singh, Pavan .

2021 8TH INTERNATIONAL CONFERENCE ON SMART COMPUTING AND COMMUNICATIONS (ICSCC), 2021, :275-279

[26] A Leader-following Formation Control of Multiple Mobile Robots with Obstacle [J].

Luo, Jing ;

Liu, Cheng-Lin ;

Liu, Fei .

2015 IEEE INTERNATIONAL CONFERENCE ON INFORMATION AND AUTOMATION, 2015, :2153-2158

[27] Algorithms for stable control of mobile robots with obstacle avoidance [J].

Carelli, R ;

Secchi, H ;

Mut, V .

LATIN AMERICAN APPLIED RESEARCH, 1999, 29 (3-4) :191-196

[28] Cooperative Obstacle-Avoidance Pushing Transportation of a Planar Object with One Leader and Two Follower Mobile Robots [J].

Le, Yanqun ;

Kojima, Hiroyuki ;

Matsuda, Kazuhiko .

JOURNAL OF ROBOTICS AND MECHATRONICS, 2005, 17 (01) :77-88

[29] Adaptive immune fuzzy quasi-sliding mode control for leader-follower formation of wheeled mobile robots under uncertainties and disturbances with obstacle avoidance [J].

Goto, Willy John Nakamura ;

Bertol, Douglas Wildgrube ;

Martins, Nardenio Almeida .

ENGINEERING COMPUTATIONS, 2024, 41 (07) :1697-1739

[30] Implementation of Leader-Follower Formation Control of a Team of Nonholonomic Mobile Robots [J].

Widyotriatmo, A. ;

Joelianto, E. ;

Prasdianto, A. ;

Bahtiar, H. ;

Nazaruddin, Y. Y. .

INTERNATIONAL JOURNAL OF COMPUTERS COMMUNICATIONS & CONTROL, 2017, 12 (06) :871-885

← 1 2 3 4 5 →