Control of a Group of Mobile Robots Moving in the Convoy Type Formation
https://doi.org/10.17587/mau.18.30-34
Abstract
In this paper we present the method of control of mobile robots moVing in the conVoy type formation. The problem of localization of robots, using relatiVe obserVations between the robots, is solVed. The relatiVe position and relatiVe orientation are estimated using an Extend Kalman Filter. Special attention is giVen to obtain a follower robot motion control law along the trajectory giVen by the leading robot. The simulation results are also presented.
About the Authors
S. L. Zenkevich
Robotics Training-Research Center, Bauman Moscow State Technical University
Russian Federation
Russian Federation
Hua Zhu
Robotics Training-Research Center, Bauman Moscow State Technical University
Russian Federation
Russian Federation
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Review
For citations:
Zenkevich S.L., Zhu H. Control of a Group of Mobile Robots Moving in the Convoy Type Formation. Mekhatronika, Avtomatizatsiya, Upravlenie. 2017;18(1):30-34. (In Russ.) https://doi.org/10.17587/mau.18.30-34
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