Leader-follower Strategy based on Distance and Heading Angles using Local Vision

J. C. Sales-Ortiz; J. F. Ciprian-Sanchez; E. G. Hernandez-Martinez; E. Ferreira-Vazquez; J. Gonzalez-Sierra; G. Fernandez-Anaya; J. J. Flores-Godoy; P. Paniagua-Contro

doi:10.1109/MWSCAS.2019.8885046

Leader-follower Strategy based on Distance and Heading Angles using Local Vision

J. C. Sales-Ortiz, J. F. Ciprian-Sanchez, E. G. Hernandez-Martinez, E. Ferreira-Vazquez, J. Gonzalez-Sierra, G. Fernandez-Anaya, J. J. Flores-Godoy, P. Paniagua-Contro

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

Abstract

This paper presents a leader-follower motion coordination strategy of an omnidirectional robot with mecanum wheels and a differential-drive robot. The follower robot is formed with respect to the leader robot using a local vision system to measure its relative distance and heading angle. Given that the sensing range of the camera is bounded, the leader robot, which has better motion capabilities, follows a desired trajectory in the plane, while converging to the follower's angle using a consensus approach. The performance of the control strategy is evaluated in an experimental setup composed by two industrial-focused robots and a motion capture system.

Original language	English
Title of host publication	2019 IEEE 62nd International Midwest Symposium on Circuits and Systems, MWSCAS 2019
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	1097-1100
Number of pages	4
ISBN (Electronic)	9781728127880
DOIs	https://doi.org/10.1109/MWSCAS.2019.8885046
State	Published - Aug 2019
Event	62nd IEEE International Midwest Symposium on Circuits and Systems, MWSCAS 2019 - Dallas, United States Duration: 4 Aug 2019 → 7 Aug 2019

Publication series

Name	Midwest Symposium on Circuits and Systems
Volume	2019-August
ISSN (Print)	1548-3746

Conference

Conference	62nd IEEE International Midwest Symposium on Circuits and Systems, MWSCAS 2019
Country/Territory	United States
City	Dallas
Period	4/08/19 → 7/08/19

Access to Document

10.1109/MWSCAS.2019.8885046

Cite this

Sales-Ortiz, J. C., Ciprian-Sanchez, J. F., Hernandez-Martinez, E. G., Ferreira-Vazquez, E., Gonzalez-Sierra, J., Fernandez-Anaya, G., Flores-Godoy, J. J., & Paniagua-Contro, P. (2019). Leader-follower Strategy based on Distance and Heading Angles using Local Vision. In 2019 IEEE 62nd International Midwest Symposium on Circuits and Systems, MWSCAS 2019 (pp. 1097-1100). Article 8885046 (Midwest Symposium on Circuits and Systems; Vol. 2019-August). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/MWSCAS.2019.8885046

@inproceedings{db37235f56bc4558be40189ed2acfc92,

title = "Leader-follower Strategy based on Distance and Heading Angles using Local Vision",

abstract = "This paper presents a leader-follower motion coordination strategy of an omnidirectional robot with mecanum wheels and a differential-drive robot. The follower robot is formed with respect to the leader robot using a local vision system to measure its relative distance and heading angle. Given that the sensing range of the camera is bounded, the leader robot, which has better motion capabilities, follows a desired trajectory in the plane, while converging to the follower's angle using a consensus approach. The performance of the control strategy is evaluated in an experimental setup composed by two industrial-focused robots and a motion capture system.",

author = "Sales-Ortiz, {J. C.} and Ciprian-Sanchez, {J. F.} and Hernandez-Martinez, {E. G.} and E. Ferreira-Vazquez and J. Gonzalez-Sierra and G. Fernandez-Anaya and Flores-Godoy, {J. J.} and P. Paniagua-Contro",

note = "Publisher Copyright: {\textcopyright} 2019 IEEE.; 62nd IEEE International Midwest Symposium on Circuits and Systems, MWSCAS 2019 ; Conference date: 04-08-2019 Through 07-08-2019",

year = "2019",

month = aug,

doi = "10.1109/MWSCAS.2019.8885046",

language = "Ingl{\'e}s",

series = "Midwest Symposium on Circuits and Systems",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

pages = "1097--1100",

booktitle = "2019 IEEE 62nd International Midwest Symposium on Circuits and Systems, MWSCAS 2019",

}

Sales-Ortiz, JC, Ciprian-Sanchez, JF, Hernandez-Martinez, EG, Ferreira-Vazquez, E, Gonzalez-Sierra, J, Fernandez-Anaya, G, Flores-Godoy, JJ & Paniagua-Contro, P 2019, Leader-follower Strategy based on Distance and Heading Angles using Local Vision. in 2019 IEEE 62nd International Midwest Symposium on Circuits and Systems, MWSCAS 2019., 8885046, Midwest Symposium on Circuits and Systems, vol. 2019-August, Institute of Electrical and Electronics Engineers Inc., pp. 1097-1100, 62nd IEEE International Midwest Symposium on Circuits and Systems, MWSCAS 2019, Dallas, United States, 4/08/19. https://doi.org/10.1109/MWSCAS.2019.8885046

Leader-follower Strategy based on Distance and Heading Angles using Local Vision. / Sales-Ortiz, J. C.; Ciprian-Sanchez, J. F.; Hernandez-Martinez, E. G. et al.
2019 IEEE 62nd International Midwest Symposium on Circuits and Systems, MWSCAS 2019. Institute of Electrical and Electronics Engineers Inc., 2019. p. 1097-1100 8885046 (Midwest Symposium on Circuits and Systems; Vol. 2019-August).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - Leader-follower Strategy based on Distance and Heading Angles using Local Vision

AU - Sales-Ortiz, J. C.

AU - Ciprian-Sanchez, J. F.

AU - Hernandez-Martinez, E. G.

AU - Ferreira-Vazquez, E.

AU - Gonzalez-Sierra, J.

AU - Fernandez-Anaya, G.

AU - Flores-Godoy, J. J.

AU - Paniagua-Contro, P.

PY - 2019/8

Y1 - 2019/8

N2 - This paper presents a leader-follower motion coordination strategy of an omnidirectional robot with mecanum wheels and a differential-drive robot. The follower robot is formed with respect to the leader robot using a local vision system to measure its relative distance and heading angle. Given that the sensing range of the camera is bounded, the leader robot, which has better motion capabilities, follows a desired trajectory in the plane, while converging to the follower's angle using a consensus approach. The performance of the control strategy is evaluated in an experimental setup composed by two industrial-focused robots and a motion capture system.

AB - This paper presents a leader-follower motion coordination strategy of an omnidirectional robot with mecanum wheels and a differential-drive robot. The follower robot is formed with respect to the leader robot using a local vision system to measure its relative distance and heading angle. Given that the sensing range of the camera is bounded, the leader robot, which has better motion capabilities, follows a desired trajectory in the plane, while converging to the follower's angle using a consensus approach. The performance of the control strategy is evaluated in an experimental setup composed by two industrial-focused robots and a motion capture system.

UR - http://www.scopus.com/inward/record.url?scp=85075031465&partnerID=8YFLogxK

U2 - 10.1109/MWSCAS.2019.8885046

DO - 10.1109/MWSCAS.2019.8885046

M3 - Contribución a la conferencia

AN - SCOPUS:85075031465

T3 - Midwest Symposium on Circuits and Systems

SP - 1097

EP - 1100

BT - 2019 IEEE 62nd International Midwest Symposium on Circuits and Systems, MWSCAS 2019

PB - Institute of Electrical and Electronics Engineers Inc.

T2 - 62nd IEEE International Midwest Symposium on Circuits and Systems, MWSCAS 2019

Y2 - 4 August 2019 through 7 August 2019

ER -

Sales-Ortiz JC, Ciprian-Sanchez JF, Hernandez-Martinez EG, Ferreira-Vazquez E, Gonzalez-Sierra J, Fernandez-Anaya G et al. Leader-follower Strategy based on Distance and Heading Angles using Local Vision. In 2019 IEEE 62nd International Midwest Symposium on Circuits and Systems, MWSCAS 2019. Institute of Electrical and Electronics Engineers Inc. 2019. p. 1097-1100. 8885046. (Midwest Symposium on Circuits and Systems). doi: 10.1109/MWSCAS.2019.8885046

Leader-follower Strategy based on Distance and Heading Angles using Local Vision

Abstract

Publication series

Conference

Access to Document

Other files and links

Fingerprint

Cite this