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

Producción científica: Capítulo del libro/informe/acta de congreso › Contribución a la conferencia › revisión exhaustiva

Resumen

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.

Idioma original	Inglés
Título de la publicación alojada	2019 IEEE 62nd International Midwest Symposium on Circuits and Systems, MWSCAS 2019
Editorial	Institute of Electrical and Electronics Engineers Inc.
Páginas	1097-1100
Número de páginas	4
ISBN (versión digital)	9781728127880
DOI	https://doi.org/10.1109/MWSCAS.2019.8885046
Estado	Publicada - ago. 2019
Publicado de forma externa	Sí
Evento	62nd IEEE International Midwest Symposium on Circuits and Systems, MWSCAS 2019 - Dallas, Estados Unidos Duración: 4 ago. 2019 → 7 ago. 2019

Serie de la publicación

Nombre	Midwest Symposium on Circuits and Systems
Volumen	2019-August
ISSN (versión impresa)	1548-3746

Conferencia

Conferencia	62nd IEEE International Midwest Symposium on Circuits and Systems, MWSCAS 2019
País/Territorio	Estados Unidos
Ciudad	Dallas
Período	4/08/19 → 7/08/19

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10.1109/MWSCAS.2019.8885046

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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. En 2019 IEEE 62nd International Midwest Symposium on Circuits and Systems, MWSCAS 2019 (pp. 1097-1100). Artículo 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

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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",

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doi = "10.1109/MWSCAS.2019.8885046",

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series = "Midwest Symposium on Circuits and Systems",

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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. En 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, Estados Unidos, 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).

Producción científica: Capítulo del libro/informe/acta de congreso › Contribución a la conferencia › revisión exhaustiva

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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.

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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. En 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

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