Processing may take a few seconds...

Article


Title

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

Authors

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

Scientific discipline (Law 2.0)

[2.2] Automation, electronics and electrical engineering

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)

Open Access Mode

open journal

Open Access Text Version

final published version

Date of Open Access to the publication

at the time of publication

Ministry points / journal

100.0

Impact Factor

2.838 [List 2021]

This website uses cookies to remember the authenticated session of the user. For more information, read about Cookies and Privacy Policy.