TY - GEN
T1 - Leader/neighbour trajectory following by mobile robots
AU - Patel, Tejas K.
AU - Sattar, Tariq P.
AU - Rodriguez, Hernando Leon
PY - 2012
Y1 - 2012
N2 - A control scheme and a sensor system are developed to enable a group of robots to work collaboratively. The control scheme maintains a desired configuration of a group of robots while they follow the trajectory of the leader robot. One robot is a pre-defined leader and other robots in the team are followers which follow the trajectory of the leader while maintaining a desired separation distance from neighbouring robots. Simulation results are presented to show the performance of a novel control scheme. The scheme requires measurement of the distance between each robot and a pre-designated neighbour which it will follow. It also requires measurement of the angle between the orientations of the two robots. A real-world test rig is described which uses the Nintendo Wii motionplus remote controllers to obtain the necessary sensor data. The Nintendo Wii motionplus controller provides very cheap but sophisticated electronics (a 3-axis accelerometer, a 3-axis gyroscope, an Infra-Red camera and Bluetooth transmitter/receiver) that is used as a sensor system on each robot to enable sensing of the motion trajectory of the leader robot or its nearest neighbouring robot.
AB - A control scheme and a sensor system are developed to enable a group of robots to work collaboratively. The control scheme maintains a desired configuration of a group of robots while they follow the trajectory of the leader robot. One robot is a pre-defined leader and other robots in the team are followers which follow the trajectory of the leader while maintaining a desired separation distance from neighbouring robots. Simulation results are presented to show the performance of a novel control scheme. The scheme requires measurement of the distance between each robot and a pre-designated neighbour which it will follow. It also requires measurement of the angle between the orientations of the two robots. A real-world test rig is described which uses the Nintendo Wii motionplus remote controllers to obtain the necessary sensor data. The Nintendo Wii motionplus controller provides very cheap but sophisticated electronics (a 3-axis accelerometer, a 3-axis gyroscope, an Infra-Red camera and Bluetooth transmitter/receiver) that is used as a sensor system on each robot to enable sensing of the motion trajectory of the leader robot or its nearest neighbouring robot.
UR - https://www.scopus.com/pages/publications/84885646634
M3 - Conference contribution
AN - SCOPUS:84885646634
SN - 981437427X
SN - 9789814374279
T3 - Field Robotics - Proceedings of the 14th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2011
SP - 223
EP - 230
BT - Field Robotics - Proceedings of the 14th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2011
T2 - 14th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2011
Y2 - 6 September 2011 through 8 September 2011
ER -