Differentially-Driven Robots Moving in Formation—Leader–Follower Approach

The paper is devoted to the leader–follower approach for multiple mobile robots control and its experimental verification. The formation control of mobile robots is motivated by the concept of virtual leader tracking, which is enhanced by the collision avoidance between the robots proposed in our pr...

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Bibliographic Details
Published in:Applied sciences 2022-07, Vol.12 (14), p.7273
Main Authors: Kiełczewski, Marcin, Kowalczyk, Wojciech, Krysiak, Bartłomiej
Format: Article
Language:English
Subjects:
Collision avoidance
Control algorithms
Design
experimental verification
leader–follower control
Localization
Robot control
Robots
Velocity
Vision systems
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Summary:The paper is devoted to the leader–follower approach for multiple mobile robots control and its experimental verification. The formation control of mobile robots is motivated by the concept of virtual leader tracking, which is enhanced by the collision avoidance between the robots proposed in our previous work. The effectiveness of this approach was verified through realisation of experiments with use of MTracker mobile robots. The OptiTrack vision system was used for robots localization. Software part with control algorithms and communication was prepared with use of the Robot Operating System.
ISSN:2076-3417
2076-3417
DOI:10.3390/app12147273