Leader-follower Strategy based on Distance and Heading Angles using Local Vision

被引：0

作者：

Sales-Ortiz, J. C. ^{[1
]}

Ciprian-Sanchez, J. F. ^{[1
]}

Hernandez-Martinez, E. G. ^{[1
]}

Ferreira-Vazquez, E. ^{[2
]}

Gonzalez-Sierra, J. ^{[3
]}

Fernandez-Anaya, G. ^{[4
]}

Flores-Godoy, J. J. ^{[5
]}

Paniagua-Contro, P. ^{[1
]}

机构：

[1] Univ Iberoamer, Inst Appl Res & Technol, Mexico City 01220, DF, Mexico

[2] Univ Catolica Uruguay, Elect Engn Dept, Montevideo 11600, Uruguay

[3] CONACYT Tecnol Nacl Mexico IT La Laguna, Torreon 27000, Coahuila, Mexico

[4] Univ Iberoamer, Phys & Math Dept, Mexico City 01220, DF, Mexico

[5] Univ Catolica Uruguay, Math Dept, Montevideo 11600, Uruguay

来源：

2019 IEEE 62ND INTERNATIONAL MIDWEST SYMPOSIUM ON CIRCUITS AND SYSTEMS (MWSCAS) | 2019年

关键词：

D O I：

10.1109/mwscas.2019.8885046

中图分类号：

TM [电工技术]; TN [电子技术、通信技术];

学科分类号：

0808 ; 0809 ;

摘要：

This paper presents a leader-follower motion coordination strategy of an omnidirectional robot with mecanum wheels and a differential-drive robot. The follower robot is formed with respect to the leader robot using a local vision system to measure its relative distance and heading angle. Given that the sensing range of the camera is bounded, the leader robot, which has better motion capabilities, follows a desired trajectory in the plane, while converging to the follower's angle using a consensus approach. The performance of the control strategy is evaluated in an experimental setup composed by two industrial-focused robots and a motion capture system.

引用

页码：1097 / 1100

页数：4

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