Localization and follow-the-leader control of a heterogeneous group of mobile robots

Jiangyang Huang, Shane M. Farritor, Ala Qadi, Steve Goddard

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

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.

Original languageEnglish (US)
Title of host publicationProceedings of the ASME Dynamic Systems and Control Division 2005
Pages1411-1420
Number of pages10
Edition2 PART B
DOIs
Publication statusPublished - Dec 1 2005
Event2005 ASME International Mechanical Engineering Congress and Exposition, IMECE 2005 - Orlando, FL, United States
Duration: Nov 5 2005Nov 11 2005

Publication series

NameAmerican Society of Mechanical Engineers, Dynamic Systems and Control Division (Publication) DSC
Number2 PART B
Volume74 DSC

Conference

Conference2005 ASME International Mechanical Engineering Congress and Exposition, IMECE 2005
CountryUnited States
CityOrlando, FL
Period11/5/0511/11/05

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Keywords

  • Bezier Trajectory
  • Follow-the-Leader control
  • Heterogeneous Robot Groups

ASJC Scopus subject areas

  • Mechanical Engineering
  • Software

Cite this

Huang, J., Farritor, S. M., Qadi, A., & Goddard, S. (2005). Localization and follow-the-leader control of a heterogeneous group of mobile robots. In Proceedings of the ASME Dynamic Systems and Control Division 2005 (2 PART B ed., pp. 1411-1420). (American Society of Mechanical Engineers, Dynamic Systems and Control Division (Publication) DSC; Vol. 74 DSC, No. 2 PART B). https://doi.org/10.1115/IMECE2005-80008