Differentially-Driven Robots Moving in Formation - Leader–Follower Approach

Marcin Kiełczewski; Wojciech Kowalczyk; Bartłomiej Krysiak

doi:10.3390/app12147273

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Title

Differentially-Driven Robots Moving in Formation - Leader–Follower Approach

Authors

Marcin Kiełczewski (WARiE) ^{[ 1 ][ 2.2 ][ P ]}
Wojciech Kowalczyk (WARiE) ^{[ 1 ][ 2.2 ][ P ]}
Bartłomiej Krysiak (WARiE) ^{[ 1 ][ 2.2 ][ P ]}

^{[ 1 ]} Instytut Automatyki i Robotyki, Wydział Automatyki, Robotyki i Elektrotechniki, Politechnika Poznańska | ^{[ P ]} employee

Scientific discipline (Law 2.0)

[2.2] Automation, electronics, electrical engineering and space technology

Year of publication

2022

Published in

Applied Sciences

Journal year: 2022 | Journal volume: vol. 12 | Journal number: iss. 14

Article type

scientific article

Publication language

english

Keywords

EN

leader–follower control
collision avoidance
experimental verification

Abstract

EN The paper is devoted to the leader–follower approach for multiple mobile robots control and its experimental verification. The formation control of mobile robots is motivated by the concept of virtual leader tracking, which is enhanced by the collision avoidance between the robots proposed in our previous work. The effectiveness of this approach was verified through realisation of experiments with use of MTracker mobile robots. The OptiTrack vision system was used for robots localization. Software part with control algorithms and communication was prepared with use of the Robot Operating System.

Date of online publication

20.07.2022

Pages (from - to)

7273-1 - 7273-16

DOI

10.3390/app12147273

URL

https://www.mdpi.com/2076-3417/12/14/7273

Comments

Article Number: 7273

License type

CC BY (attribution alone)