TY - JOUR
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
N1 - Funding Information:
Manuscript received September 15, 2005; revised November 30, 2005. Recommended by Guest Editors S. Agrawal and V. Krovi. This work was supported by the National Research Council Transportation Research Board’s NCHRP IDEA program.
PY - 2006/4
Y1 - 2006/4
N2 - This paper investigates the control and localization of a heterogeneous (e.g., different sensing, 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, demining, 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, including a method for changing follower's configuration. Experimental results of localization and follow-the-leader formation-motion are included.
AB - This paper investigates the control and localization of a heterogeneous (e.g., different sensing, 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, demining, 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, including a method for changing follower's configuration. Experimental results of localization and follow-the-leader formation-motion are included.
KW - Bezier trajectory
KW - Follow-the-leader control
KW - Heterogeneous robot groups
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U2 - 10.1109/TMECH.2006.871100
DO - 10.1109/TMECH.2006.871100
M3 - Article
AN - SCOPUS:33645828650
SN - 1083-4435
VL - 11
SP - 205
EP - 215
JO - IEEE/ASME Transactions on Mechatronics
JF - IEEE/ASME Transactions on Mechatronics
IS - 2
ER -