Design of one degree of freedom rotating platform applied in leader-follower autonomous robot control
[ 1 ] Instytut Automatyki i Robotyki, Wydział Automatyki, Robotyki i Elektrotechniki, Politechnika Poznańska | [ 2 ] Wydział Automatyki, Robotyki i Elektrotechniki, Politechnika Poznańska | [ P ] employee | [ SzD ] doctoral school student
[2.2] Automation, electronics, electrical engineering and space technology
2022
chapter in monograph / paper
english
- autonomous robots
- ArUco marker
- Intel RealSense sensor
- ROS
- 3D printing
- Gazebo
- leader following control
EN This paper describes the design of one degree of freedom rotating platform for an Intel RealSense sensor and a leader-follower control algorithm. The rotating platform will be placed on the follower robot to track the ArUco markers on the leader robot. Four ArUco markers will be placed on the leader robot in different directions. The proportional-integral-derivative controller (PID controller) helps the rotating platform track the ArUco marker independently from the motion of the follower robot itself. The pose of the leader robot will be calculated by the follower robot from the ArUco marker detection. This paper involves the simulation of the experiment in gazebo software in the Robot Operating System (ROS).
08.09.2022
211 - 216
20