TY - GEN
T1 - Localization and follow-the-leader control of a heterogeneous group of mobile robots
AU - Huang, Jiangyang
AU - Farritor, Shane M.
AU - Qadi, Ala
AU - Goddard, Steve
PY - 2005
Y1 - 2005
N2 - This paper investigates the control and localization of a heterogeneous (different sensor, mechanical, computational capabilities) group of mobile robots. The group considered here has several inexpensive sensor-limited and computationally-limited robots which follow a leader robot in a desired formation over long distances. This situation is similar to a search, de-mining, or planetary exploration situation where there are several deployable/ disposable robots led by a more sophisticated leader. Specifically, the robots in this paper are designed for highway safety applications where they automatically deploy and maneuver safety barrels commonly used to control traffic in highway work zones. Complex sensing and computation are performed by the leader while the followers perform simple operations under the leader's guidance. This architecture allows followers to be simple, inexpensive and have minimal sensors. Theoretical and statistical analysis of a tracking-based localization method is provided. A simple follow-the-leader control method is also presented. Experimental results of localization and follow-the-leader formation-motion are included.
AB - This paper investigates the control and localization of a heterogeneous (different sensor, mechanical, computational capabilities) group of mobile robots. The group considered here has several inexpensive sensor-limited and computationally-limited robots which follow a leader robot in a desired formation over long distances. This situation is similar to a search, de-mining, or planetary exploration situation where there are several deployable/ disposable robots led by a more sophisticated leader. Specifically, the robots in this paper are designed for highway safety applications where they automatically deploy and maneuver safety barrels commonly used to control traffic in highway work zones. Complex sensing and computation are performed by the leader while the followers perform simple operations under the leader's guidance. This architecture allows followers to be simple, inexpensive and have minimal sensors. Theoretical and statistical analysis of a tracking-based localization method is provided. A simple follow-the-leader control method is also presented. Experimental results of localization and follow-the-leader formation-motion are included.
KW - Bezier Trajectory
KW - Follow-the-Leader control
KW - Heterogeneous Robot Groups
UR - http://www.scopus.com/inward/record.url?scp=33645677652&partnerID=8YFLogxK
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U2 - 10.1115/IMECE2005-80008
DO - 10.1115/IMECE2005-80008
M3 - Conference contribution
AN - SCOPUS:33645677652
SN - 0791842169
SN - 9780791842164
T3 - American Society of Mechanical Engineers, Dynamic Systems and Control Division (Publication) DSC
SP - 1411
EP - 1420
BT - Proceedings of the ASME Dynamic Systems and Control Division 2005
T2 - 2005 ASME International Mechanical Engineering Congress and Exposition, IMECE 2005
Y2 - 5 November 2005 through 11 November 2005
ER -