Experimental Verification of the Leader-Follower Formation Control of Two Wheeled Mobile Robots with Obstacle Avoidance

被引：6

作者：

Mata-Machuca, J. L. ^{[1
]}

Zarazua, L. F. ^{[2
]}

Aguilar-Lopez, R. ^{[3
]}

机构：

[1] Inst Politecn Nacl, UPIITA, Dept Tecnol Avanzadas, IPN 2580, Mexico City 07340, DF, Mexico

[2] Inst Politecn Nacl, UPIITA, Ingn Mecatron, IPN 2580, Mexico City 07340, DF, Mexico

[3] CINVESTAN IPN, Dept Biotecnol & Bioingn, IPN 2508, Mexico City 07360, DF, Mexico

来源：

IEEE LATIN AMERICA TRANSACTIONS | 2021年 / 19卷 / 08期

关键词：

Robot kinematics; Robot sensing systems; Mobile robots; Laser radar; Trajectory; Magnetic cores; IEEE transactions; leader- follower formation; experimental verification; obstacle avoidance; Wheeled Mobile Robot; differential configuration;

D O I：

10.1109/TLA.2021.9475873

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

In this work the experimental verification of the control of two wheeled mobile robots with differential configuration under a leader-follower formation is presented, where the leader performs the task of tracking a predefined trajectory, as well as, it is able to avoid obstacles and it sends information of the point-to-point trajectories reached to the follower mobile robot. The follower has the ability to estimate the trajectory of the leader robot only based on the information received from the leader, for arbitrary initial conditions. Experimental verifications with two wheeled mobile robots TurtleBot3 Burger illustrate the performance of the proposed technique, using the robot operating system (ROS) and Python.

引用

页码：1417 / 1424

页数：8

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