TY - JOUR
T1 - Experimental verification of the leader-follower formation control of two wheeled mobile robots with obstacle avoidance
AU - Mata-Machuca, Juan Luis
AU - Zarazua, Luis Fernando
AU - Aguilar-Lopez, Ricardo
N1 - Publisher Copyright:
© 2003-2012 IEEE.
PY - 2021/8
Y1 - 2021/8
N2 - In this work the experimental verification of the control of two wheeled mobile robots with differential configuration under a leader-follower formation is presented, where the leader performs the task of tracking a predefined trajectory, as well as, it is able to avoid obstacles and it sends information of the point-to-point trajectories reached to the follower mobile robot. The follower has the ability to estimate the trajectory of the leader robot only based on the information received from the leader, for arbitrary initial conditions. Experimental verifications with two wheeled mobile robots TurtleBot3 Burger illustrate the performance of the proposed technique, using the robot operating system (ROS) and Python.
AB - In this work the experimental verification of the control of two wheeled mobile robots with differential configuration under a leader-follower formation is presented, where the leader performs the task of tracking a predefined trajectory, as well as, it is able to avoid obstacles and it sends information of the point-to-point trajectories reached to the follower mobile robot. The follower has the ability to estimate the trajectory of the leader robot only based on the information received from the leader, for arbitrary initial conditions. Experimental verifications with two wheeled mobile robots TurtleBot3 Burger illustrate the performance of the proposed technique, using the robot operating system (ROS) and Python.
KW - Wheeled Mobile Robot
KW - differential configuration
KW - experimental verification
KW - leader- follower formation
KW - obstacle avoidance
UR - http://www.scopus.com/inward/record.url?scp=85112171131&partnerID=8YFLogxK
U2 - 10.1109/TLA.2021.9475873
DO - 10.1109/TLA.2021.9475873
M3 - Artículo
AN - SCOPUS:85112171131
SN - 1548-0992
VL - 19
SP - 1417
EP - 1424
JO - IEEE Latin America Transactions
JF - IEEE Latin America Transactions
IS - 8
M1 - 9475873
ER -