Vision-Based Flexible Leader–Follower Formation Tracking of Multiple Nonholonomic Mobile Robots in Unknown Obstacle Environments

Wang, Yuanzhe; Shan, Mao; Yue, Yufeng; Wang, Danwei

doi:10.1109/tcst.2019.2892031

Cited by 71 publications

(43 citation statements)

References 18 publications

(21 reference statements)

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“…rough the principle of binocular stereo vision measurement, according to the three markers in the static image, obvious features can be obtained from the image as a reference to analyze the image in real-time to calculate the Jacobi matrix of the target image combined with the formula of visual localization measurement to predict the three-dimensional coordinates of the target, the distance, and the next direction of movement to achieve adaptive tracking of moving targets [9]. Since this algorithm does not require the internal and external parameters of the camera, as well as the initial position of the target, the measurement error is large and only approximately gives information about the position of the target in the next frame, but the algorithm is more robust [10].…”

Section: Related Workmentioning

confidence: 99%

[Retracted] Privacy‐Oriented Successive Approximation Image Position Follower Processing

Miao

Shao²,

Yan³

2021

Complexity

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In this paper, we analyze the location-following processing of the image by successive approximation with the need for directed privacy. To solve the detection problem of moving the human body in the dynamic background, the motion target detection module integrates the two ideas of feature information detection and human body model segmentation detection and combines the deep learning framework to complete the detection of the human body by detecting the feature points of key parts of the human body. The detection of human key points depends on the human pose estimation algorithm, so the research in this paper is based on the bottom-up model in the multiperson pose estimation method; firstly, all the human key points in the image are detected by feature extraction through the convolutional neural network, and then the accurate labelling of human key points is achieved by using the heat map and offset fusion optimization method in the feature point confidence map prediction, and finally, the human body detection results are obtained. In the study of the correlation algorithm, this paper combines the HOG feature extraction of the KCF algorithm and the scale filter of the DSST algorithm to form a fusion correlation filter based on the principle study of the MOSSE correlation filter. The algorithm solves the problems of lack of scale estimation of KCF algorithm and low real-time rate of DSST algorithm and improves the tracking accuracy while ensuring the real-time performance of the algorithm.

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Section: Related Workmentioning

confidence: 99%

[Retracted] Privacy‐Oriented Successive Approximation Image Position Follower Processing

Miao

Shao²,

Yan³

2021

Complexity

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“…This kind of system is a typical nonholonomic dynamic system because the rolling contact between the wheel and the ground must satisfy the nonholonomic constraint of pure rolling and no slipping. With the extensive feature of wheeled mobile robots (WMR) in various fields, the precision requirements for the motion trajectory control of wheeled mobile robots are also higher and higher [4,5]. Each application has specific constraints to the robot design process, which is minimized if all compromises are interpreted by choosing the most convenient drive configuration.…”

Section: Introductionmentioning

confidence: 99%

Nonholonomic Wheeled Mobile Robot Trajectory Tracking Control Based on Improved Sliding Mode Variable Structure

Cai¹,

Singh

2021

Wireless Communications and Mobile Computing

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Several research studies are conducted based on the control of wheeled mobile robots. Nonholonomy constraints associated with wheeled mobile robots have encouraged the development of highly nonlinear control techniques. Nonholonomic wheeled mobile robot systems might be exposed to numerous payloads as per the application requirements. This can affect statically or dynamically the complete system mass, inertia, the location of the center of mass, and additional hardware constraints. Due to the nonholonomic and motion limited properties of wheeled mobile robots, the precision of trajectory tracking control is poor. The nonholonomic wheeled mobile robot tracking system is therefore being explored. The kinematic model and sliding mode control model are analyzed, and the trajectory tracking control of the robot is carried out using an enhanced variable structure based on sliding mode. The shear and sliding mode controls are designed, and the control stability is reviewed to control the trajectory of a nonholonomic wheeled mobile robot. The simulation outcomes show that the projected trajectory track control technique is able to improve the mobile robot’s control, the error of a pose is small, and the linear velocity and angular speed can be controlled. Take the linear and angular velocity as the predicted trajectory.

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“…The obstacle avoidance between multi-robot has been specified by X. Wu et al [ 21 ]. The vision-based methodologies have arbitrated into robotics object avoidance by Y. Wang et al [ 22 ] to evaluate the shape and size of the object in the process of obstacle avoidance execution. The authors D. Sakai et al [ 23 ] have represented about the obstacle avoidance with preserving connectivity and without data transmission.…”

Section: Introductionmentioning

confidence: 99%

Hardware Schemes for Autonomous Navigation of Cooperative-type Multi-robot in Indoor Environment

Vani

Rao

Chinnaiah³

2021

J. Inst. Eng. India Ser. B

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This study proposes about the autonomous navigation of a multi-robot for transportation in indoor environments. This transportation is integrated with three foldings of VLSI architectures; they are 1) shortest optimal path planning 2) behavioral control between multi-robot with leadership swapping methods as per dynamic conditions and 3) obstacle avoidance by multi-robot. The hardware schemes have been designed for navigation of multi-robot with shortest path planning, based on an extended Dijkstra algorithm along with the Delaunay triangulation method. The behavioral control mechanism between the multi-robot is another challenge at the time of navigation and obstacle avoidance at both static and dynamic conditions in real-time scenario. The leader and follower approaches are deployed for cooperation between multi-robot to accomplish the task. The VLSI architectures are proposed for multi-robot navigation in the warehouse-type indoor environment. It is developed using Verilog HDL, simulated and synthesized with Xilinx Vivado 17.1. The Zynq-7000 SoC ZC702 FPGA is used as the target device.

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Vision-Based Flexible Leader–Follower Formation Tracking of Multiple Nonholonomic Mobile Robots in Unknown Obstacle Environments

Abstract: Vision-based flexible leader-follower formation tracking of multiple nonholonomic mobile robots in unknown obstacle environments. IEEE

Cited by 71 publications

References 18 publications

[Retracted] Privacy‐Oriented Successive Approximation Image Position Follower Processing

[Retracted] Privacy‐Oriented Successive Approximation Image Position Follower Processing

Nonholonomic Wheeled Mobile Robot Trajectory Tracking Control Based on Improved Sliding Mode Variable Structure

Hardware Schemes for Autonomous Navigation of Cooperative-type Multi-robot in Indoor Environment

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