Mobile robot formation control using a modified leader-follower technique

Fujimori, A.; Fujimoto, Takeshi; Bohács, Gábor

doi:10.3233/ica-2008-15106

Cited by 9 publications

(13 citation statements)

References 25 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…Relative equations between leader and follower robots are first shown. 16 A distributive control law, called SMI, [15][16][17] is next shown. Furthermore, sonar-equipped mobile robots, Pioneer 1 and Pioneer 2, are briefly explained.…”

Section: Leader-follower Formation Control Using Sonar-equipped Mobile Robotsmentioning

confidence: 99%

“…Yu et al 14 used a potential function to track the velocity of the leader robot. Fujimori et al [15][16][17] proposed a distributed control law called the self-made input (SMI) in which the states of the leader robot are not required.…”

Section: Introductionmentioning

confidence: 99%

“…A control law of the follower robots is next given by a distributed control law called the SMI. [15][16][17] Section ''Reactive obstacle avoidance'' presents a reactive collision avoidance technique for Pioneer 1 and Pioneer 2. The collision avoidance technique is embedded on both the leader and follower robots.…”

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

Leader–follower formation control with obstacle avoidance using sonar-equipped mobile robots

Fujimori

Kubota

Shibata

et al. 2014

Proceedings of the Institution of Mechanical Engineers, Part I:

Self Cite

View full text Add to dashboard Cite

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.

show abstract

Section: Leader-follower Formation Control Using Sonar-equipped Mobile Robotsmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Leader–follower formation control with obstacle avoidance using sonar-equipped mobile robots

Fujimori

Kubota

Shibata

et al. 2014

Proceedings of the Institution of Mechanical Engineers, Part I:

Self Cite

View full text Add to dashboard Cite

show abstract

“…More specifically, we assume to have two additional vehicles, one preceding the tracked AGV, and the second following it, moving at the same (random) speed of the AGV. Obviously, more sophisticated mobility models of the ob- stacles, as those presented in [12], could be considered. The obstacles are slightly wider and longer than the tracked AGV.…”

Section: Impact Of Anchors' Placement and Of Moving Obstaclesmentioning

confidence: 99%

Improved ultra wideband-based tracking of twin-receiver automated guided vehicles

Busanelli

Ferrari

2012

ICA

View full text Add to dashboard Cite

In this paper, we present the design and performance analysis of an innovative system for tracking Automated Guided Vehicles (AGVs) in indoor industrial scenarios. An on-board odometer provides information about the dynamic state of the AGV, allowing to predict its pose (i.e., its position and orientation). At the same time, an external Ultra-Wide Band (UWB) wireless network provides the information necessary to compensate for the error drift accumulated by the odometer. Two novel alternative solutions for AGV tracking are proposed: (i) a classical Time Differences Of Arrivals (TDOA) approach with a single receiver; (ii) a "Twin-receiver" TDOA (TTDOA) approach, that requires the presence of two independent receivers on the AGV. The TTDOA configuration allows to indirectly estimate the orientation of the vehicle, thus increasing the estimation accuracy. Moreover, this allows direct estimation of the vehicle's movement even when the odometer is not working properly (e.g., temporary failure) or when the AGV is not moving (e.g., at the start-up). The system performance with the two proposed tracking algorithms is evaluated in realistic conditions, by considering a consolidated UWB channel model and a simple on-board energy detector receiver. The impact of the wireless network architecture and of the presence of moving obstacles is analyzed. The obtained results show clearly that the implementation of a tracking system with a sub-centimeter accuracy can be realized by means of low-complexity UWB receiver and commercial odometers. The automatic movement of goods within a warehouse is one of the most appealing application of the proposed tracking system.

show abstract

“…For instance, the consensus problem for a group of linear systems with nonzero communication delay (i.e., agent-to-agent) has been solved, in separate, by [17,26,20] for the case of zero input delay (i.e., controllerto-plant), and by [14,13] for the case of delayed self-position information (yet, the latter efforts assume that velocity information is non-delayed and, consequently, the controller can inject artificial damping into the system with the aim of stabilizing it). Likewise, the coordination of multiple agents in leaderless and leader-following configurations [10] with communication and input delays has been addressed in [30,19,31,44,47], for systems with single-integrator dynamics, and in [40,39,21,24], for groups of double-integrators.…”

Section: Introductionmentioning

confidence: 99%

Teleoperation of multi-agent systems with nonuniform control input delays

Rodriguez-Seda

Stipanović

Spong

2012

ICA

View full text Add to dashboard Cite

Consensus and coordination of multiple teleoperated agents has been a control topic of growing interest over the last decade due, in part, to its many potential applications and related complex challenges. One of these challenges is to guarantee stability and motion coordination in the presence of inherent communication and input delays as well as system nonlinearities in the multi-agent system. Addressing this challenge herein, we report on a model reference robust control framework that guarantees stability, motion coordination, and formation control of N output strictly passive, nonlinear Lagrangian systems with arbitrarily large, nonuniform control input delays. The control framework is comprised of a reference model coupled to the nonlinear systems via the use of N modified scattering transformation blocks. It is shown that the overall control architecture is stable for any large constant delay, robust to system uncertainties, and that the control parameters are delay-independent. A numerical example with four nonlinear planar manipulators and another example with six ground vehicles are finally presented to illustrate the performance of the proposed controller.

show abstract

Mobile robot formation control using a modified leader-follower technique

Cited by 9 publications

References 25 publications

Leader–follower formation control with obstacle avoidance using sonar-equipped mobile robots

Leader–follower formation control with obstacle avoidance using sonar-equipped mobile robots

Improved ultra wideband-based tracking of twin-receiver automated guided vehicles

Teleoperation of multi-agent systems with nonuniform control input delays

Contact Info

Product

Resources

About