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Extension of Leader-Follower Behaviours for Wheeled Mobile Robots in Multirobot Coordination
Joint Authors
Fernández-Anaya, Guillermo
González-Sierra, J.
Hernández-Martínez, E. G.
Ferreira-Vázquez, E. D.
Paniagua-Contro, P.
González-Medina, O.
Flores-Godoy, J. J.
Source
Mathematical Problems in Engineering
Issue
Vol. 2019, Issue 2019 (31 Dec. 2019), pp.1-16, 16 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2019-04-02
Country of Publication
Egypt
No. of Pages
16
Main Subjects
Abstract EN
This paper presents the extension of leader-follower behaviours, for the case of a combined set of kinematic models of omnidirectional and differential-drive wheeled mobile robots.
The control strategies are based on the decentralized measurements of distance and heading angles.
Combining the kinematic models, the control strategies produce the standard and new mechanical behaviours related to rigid body or n-trailer approaches.
The analysis is given in pairs of robots and extended to the case of multiple robots with a directed tree-shaped communication topology.
Combining these behaviours, it is possible to make platoons of robots, as obtained from cluster space or virtual structure approaches, but now defined by local measurements and communication of robots.
Numerical simulations and real-time experiments show the performance of the approach and the possibilities to be applied in multirobot tasks.
American Psychological Association (APA)
Paniagua-Contro, P.& Hernández-Martínez, E. G.& González-Medina, O.& González-Sierra, J.& Flores-Godoy, J. J.& Ferreira-Vázquez, E. D.…[et al.]. 2019. Extension of Leader-Follower Behaviours for Wheeled Mobile Robots in Multirobot Coordination. Mathematical Problems in Engineering،Vol. 2019, no. 2019, pp.1-16.
https://search.emarefa.net/detail/BIM-1195861
Modern Language Association (MLA)
Paniagua-Contro, P.…[et al.]. Extension of Leader-Follower Behaviours for Wheeled Mobile Robots in Multirobot Coordination. Mathematical Problems in Engineering No. 2019 (2019), pp.1-16.
https://search.emarefa.net/detail/BIM-1195861
American Medical Association (AMA)
Paniagua-Contro, P.& Hernández-Martínez, E. G.& González-Medina, O.& González-Sierra, J.& Flores-Godoy, J. J.& Ferreira-Vázquez, E. D.…[et al.]. Extension of Leader-Follower Behaviours for Wheeled Mobile Robots in Multirobot Coordination. Mathematical Problems in Engineering. 2019. Vol. 2019, no. 2019, pp.1-16.
https://search.emarefa.net/detail/BIM-1195861
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1195861