A Relative Measurement based Leader-follower Formation Control of Mobile Robots

Zolotukhin, Yu. N.; Kotov, K. Yu.; Maltsev, A. S.; Nesterov, A. A.; Sobolev, M. A.; Филиппов, М. Н.

doi:10.5220/0005543103100313

Cited by 3 publications

(4 citation statements)

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“…The observation error dynamics can be obtained by considering the time derivative of equation (6). where e w i ðtÞ ¼ ½ e w 1i ðtÞ e w 2i ðtÞ e w 3i ðtÞ T and Figure 2.…”

Section: Observation Error Analysismentioning

confidence: 99%

“…The observation error dynamics can be obtained by considering the time derivative of equation (6). The use of trigonometric identities allows to write that can be rewritten as _ e w i ðtÞ ¼ A i e w i ðtÞ þ Fðe w 3i ;ŵ i Þ u 1i ðt À tÞ ð8Þ…”

Section: Observation Error Analysismentioning

confidence: 99%

“…In the case of a pair of vehicles, the leader–follower formation has been studied using the relative distance between robots 5 ; based on local motion sensors to perform the formation 6 or by means of camera on board, the follower robot determines the relative distance between the vehicles.…”

Section: Introductionmentioning

confidence: 99%

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Chain formation control for a platoon of robots using time-gap separation

Cruz-Morales

Velasco-Villa

Rodríguez-Ángeles

2018

International Journal of Advanced Robotic Systems

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The main objective of this article is to present a controller capable of maintaining a chain formation of platooning type, among a set of non-holonomic mobile robots, keeping a time-gap separation between each pair of consecutive robots at the platoon. It is intended that the whole set of robots asymptotically follows any feasible trajectory described by the leader robot. Under these conditions, the distance between any pair of consecutive robots, that is, the i-th robot and the ði þ 1Þ-th robot, depends on the velocity of the i-th robot. Only position measurements are available, such that, to avoid using approximate velocity estimations, the chain formation problem is solved by considering a delay observer strategy. Based on the measurements of the positions of the robots, along the platoon, a delay observer is built for the i-th robot that provides a virtual reference for the ði þ 1Þ-th robot, and this reference corresponds to the i-th robot trajectory delayed specific units of time, corresponding to the desired time-gap separation. Convergence of the ði þ 1Þ-th robot to its desired delayed trajectory, which implies convergence of the chain formation, is formally proved by means of a Lyapunov stability approach and supported by numerical simulations and real-time experiments.

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“…The observation error dynamics can be obtained by considering the time derivative of equation (6). where e w i ðtÞ ¼ ½ e w 1i ðtÞ e w 2i ðtÞ e w 3i ðtÞ T and Figure 2.…”

Section: Observation Error Analysismentioning

confidence: 99%

Section: Observation Error Analysismentioning

confidence: 99%

See 1 more Smart Citation

Chain formation control for a platoon of robots using time-gap separation

Cruz-Morales

Velasco-Villa

Rodríguez-Ángeles

2018

International Journal of Advanced Robotic Systems

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“…In recent studies, formation control was performed with the velocity information of the leader robot and relative posture difference between the leader and follower robots. In [16], the relative positions and orientation angles of the leader robot and follower robot were obtained from the laser and infrared sensors on the follower robot. In [17], posture information of the leader robot was obtained by the follower robot's light detection and ranging (LIDAR) sensor and inertial measurement unit (IMU).…”

Section: Introductionmentioning

confidence: 99%

Fuzzy Integral Sliding Mode Observer-Based Formation Control of Mobile Robots With Kinematic Disturbance and Unknown Leader and Follower Velocities

Boo

Chwa

2022

IEEE Access

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Fuzzy integral sliding mode observer (FISMO) based leader-follower formation control with the use of ceiling-mounted camera information is proposed for mobile robots with kinematic disturbance and no information of the velocities of leader and follower robots. Using only the posture information of both the leader and follower robots obtained from the camera sensor, the follower robot is made to follow the trajectory of a target robot that is introduced to render the leader-follower formation control more efficient. As a result, a kinematic tracking error model is proposed in terms of both the posture error between the target and follower robots and the posture error between the origin of the inertial reference frame and follower robot. Because the kinematic disturbance and the velocities of the leader and follower robots are not available, an FISMO is designed to simultaneously estimate the kinematic disturbance as well as the linear and angular velocities of the leader and follower robots. FISMO-based leader-follower output feedback formation control is then proposed based on the estimates of the kinematic disturbance and velocities and the backstepping-like feedback linearization tracking control. The experimental results comparing the proposed FISMO-based method with the robust distance-based tracking control method and integral sliding mode observer (ISMO)-based method are provided to verify the effectiveness of the proposed method.INDEX TERMS Ceiling-mounted camera, fuzzy integral sliding mode observer, kinematic disturbance, leader-follower output feedback formation control, mobile robots.

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