Title

VISION-BASED MOBILE ROBOT LEADER–FOLLOWER CONTROL USING MODEL PREDICTIVE CONTROL

Department

Mechatronics Engineering

Document Type

Article

Publication Date

2019

Abstract

Leader–follower control of mobile robots has been an attractive topic in the robotics community. In this paper, a vision-based leader– follower tracking control system is presented using two autonomous mobile robots and model predictive control (MPC). In particular, the follower robot employs a vision sensor and a laser scanner to acquire the distance and orientation information between the leader robot and the follower. Then, the extended Kalman filter algorithm is employed to remove the measurement noise. A vision-based model predictive control (MPC) method for nonholonomic mobile robots is proposed to implement a reliable leader–follower tracking control. The simulation results under different control horizons are provided to validate the proposed control strategy.

Journal

International Journal of Robotics and Automation

Journal ISSN

1925-7090

Volume

34

Issue

5

Digital Object Identifier (DOI)

10.2316/J.2019.206-0231

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