VISION-BASED MOBILE ROBOT LEADER–FOLLOWER CONTROL USING MODEL PREDICTIVE CONTROL
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.
International Journal of Robotics and Automation
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