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

[31] A Relative Measurement based Leader-follower Formation Control of Mobile Robots [J].

Zolotukhin, Yu. N. ;

Kotov, K. Yu. ;

Maltsev, A. S. ;

Nesterov, A. A. ;

Sobolev, M. A. ;

Filippov, M. N. .

ICIMCO 2015 PROCEEDINGS OF THE 12TH INTERNATIONAL CONFERENCE ON INFORMATICS IN CONTROL, AUTOMATION AND ROBOTICS, VOL. 2, 2015, :310-313

[32] Adaptive Leader-follower Formation Control of Mobile Robots with Unknown Skidding and Slipping Effects [J].

Park, Bong Seok ;

Yoo, Sung Jin .

INTERNATIONAL JOURNAL OF CONTROL AUTOMATION AND SYSTEMS, 2015, 13 (03) :587-594

[33] Adaptive leader-follower formation control of mobile robots with unknown skidding and slipping effects [J].

Bong Seok Park ;

Sung Jin Yoo .

International Journal of Control, Automation and Systems, 2015, 13 :587-594

[34] Obstacle avoidance control of nonholonomic mobile robots [J].

Niu, Wenbin ;

Wang, Chaoli ;

Li, Qingsong .

DYNAMICS OF CONTINUOUS DISCRETE AND IMPULSIVE SYSTEMS-SERIES B-APPLICATIONS & ALGORITHMS, 2007, 14 :1462-1466

[35] A Novel Virtual-Structure Formation Control Design for Mobile Robots with Obstacle Avoidance [J].

Chen, Xuanlin ;

Huang, Fanghao ;

Zhang, Yougong ;

Chen, Zheng ;

Liu, Shuo ;

Nie, Yong ;

Tang, Jianzhong ;

Zhu, Shiqiang .

APPLIED SCIENCES-BASEL, 2020, 10 (17)

[36] Formation Control and Obstacle Avoidance for Multi-Agent Systems Based on Virtual Leader-Follower Strategy [J].

Yan, Jing ;

Guan, Xinping ;

Luo, Xiaoyuan ;

Chen, Cailian .

INTERNATIONAL JOURNAL OF INFORMATION TECHNOLOGY & DECISION MAKING, 2017, 16 (03) :865-880

[37] Position control with dynamic obstacle avoidance in omnidirectional mobile robots [J].

Villalvazo-Covian, Rodrigo ;

Meza-Sanchez, Marlen ;

Clemente, Eddie ;

Rodriguez-Linan, M. C. ;

Monay-Arredondo, Luis ;

Olague, Gustavo .

PROCEEDINGS OF THE 2021 XXIII ROBOTICS MEXICAN CONGRESS (COMROB), 2021, :44-49

[38] Formation Control of Multiple Wheeled Mobile Robots via Leader-Follower Approach [J].

Peng, Tao ;

Li, Shan .

26TH CHINESE CONTROL AND DECISION CONFERENCE (2014 CCDC), 2014, :4215-4220

[39] Adaptive Image-Based Leader-Follower Formation Control of Mobile Robots With Visibility Constraints [J].

Lin, Jie ;

Miao, Zhiqiang ;

Zhong, Hang ;

Peng, Weixing ;

Wang, Yaonan ;

Fierro, Rafael .

IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS, 2021, 68 (07) :6010-6019

[40] Formation Control and Obstacle Avoidance in Swarm Robots [J].

Shallal, Abidaoun Hamdan ;

Ucan, Osman N. ;

Bayat, Oguz .

INTERNATIONAL JOURNAL OF COMPUTER SCIENCE AND NETWORK SECURITY, 2018, 18 (03) :126-133

← 1 2 3 4 5 →