TY - JOUR
T1 - Extension of leader-follower behaviours for wheeled mobile robots in multirobot coordination
AU - Paniagua-Contro, P.
AU - Hernandez-Martinez, E. G.
AU - González-Medina, O.
AU - González-Sierra, J.
AU - Flores-Godoy, J. J.
AU - Ferreira-Vazquez, E. D.
AU - Fernandez-Anaya, G.
N1 - Publisher Copyright:
© 2019 P. Paniagua-Contro et al.
PY - 2019
Y1 - 2019
N2 - This paper presents the extension of leader-follower behaviours, for the case of a combined set of kinematic models of omnidirectional and differential-drive wheeled mobile robots. The control strategies are based on the decentralized measurements of distance and heading angles. Combining the kinematic models, the control strategies produce the standard and new mechanical behaviours related to rigid body or n-trailer approaches. The analysis is given in pairs of robots and extended to the case of multiple robots with a directed tree-shaped communication topology. Combining these behaviours, it is possible to make platoons of robots, as obtained from cluster space or virtual structure approaches, but now defined by local measurements and communication of robots. Numerical simulations and real-time experiments show the performance of the approach and the possibilities to be applied in multirobot tasks.
AB - This paper presents the extension of leader-follower behaviours, for the case of a combined set of kinematic models of omnidirectional and differential-drive wheeled mobile robots. The control strategies are based on the decentralized measurements of distance and heading angles. Combining the kinematic models, the control strategies produce the standard and new mechanical behaviours related to rigid body or n-trailer approaches. The analysis is given in pairs of robots and extended to the case of multiple robots with a directed tree-shaped communication topology. Combining these behaviours, it is possible to make platoons of robots, as obtained from cluster space or virtual structure approaches, but now defined by local measurements and communication of robots. Numerical simulations and real-time experiments show the performance of the approach and the possibilities to be applied in multirobot tasks.
UR - http://www.scopus.com/inward/record.url?scp=85065799068&partnerID=8YFLogxK
U2 - 10.1155/2019/4957259
DO - 10.1155/2019/4957259
M3 - Artículo
AN - SCOPUS:85065799068
SN - 1024-123X
VL - 2019
JO - Mathematical Problems in Engineering
JF - Mathematical Problems in Engineering
M1 - 4957259
ER -