Multi-robot Tracking of Mobile Target Based on Communication
نویسندگان
چکیده
Multi-robot tracking of mobile target is studied in the paper, which is based on the communication and sensors. For an independent tracking robot, the processes are separated into three layers and four tasks, and allocated to different robots for distinct roles in tracking, which is named the Distributed Decision Control System (DDCS). After that, two tracking models, centralized and distributed models, are designed for multi-robot tracking. Furthermore, a Proportional Navigation Guidance Law (PNGL) and l-φ formation control algorithm are mentioned to realize the robot motion control. At last the simulation has shown the feasibility and validity of both models. Keyword: Multi-robot tracking, DDCS, PNGL, Communication based, l-φ formation control algorithm
منابع مشابه
Visual Tracking using Learning Histogram of Oriented Gradients by SVM on Mobile Robot
The intelligence of a mobile robot is highly dependent on its vision. The main objective of an intelligent mobile robot is in its ability to the online image processing, object detection, and especially visual tracking which is a complex task in stochastic environments. Tracking algorithms suffer from sequence challenges such as illumination variation, occlusion, and background clutter, so an a...
متن کاملRobust Sliding Mode Controller for Trajectory Tracking and Attitude Control of a Nonholonomic Spherical Mobile Robot
Based on dynamic modeling, robust trajectory tracking control of attitude and position of a spherical mobile robot is proposed. In this paper, the spherical robot is composed of a spherical shell and three independent rotors which act as the inner driver mechanism. Owing to rolling without slipping assumption, the robot is subjected to two nonholonomic constraints. The state space representatio...
متن کاملFormation Control and Path Planning of Two Robots for Tracking a Moving Target
This paper addresses the dynamic path planning for two mobile robots in unknownenvironment with obstacle avoidance and moving target tracking. These robots must form atriangle with moving target. The algorithm is composed of two parts. The first part of thealgorithm used for formation planning of the robots and a moving target. It generates thedesired position for the robots for the next step. ...
متن کاملDynamical formation control of wheeled mobile robots based on fuzzy logic
In this paper, the important formation control problem of nonholonomic wheeled mobile robots is investigated via a leader-follower strategy. To this end, the dynamics model of the considered wheeled mobile robot is derived using Lagrange equations of motion. Then, using ADAMS multi-body simulation software, the obtained dynamics of the wheeled system in MATLAB software is verified. After that, ...
متن کاملAdaptive Sliding Mode Tracking Control of Mobile Robot in Dynamic Environment Using Artificial Potential Fields
Solution to the safe and collision-free trajectory of the wheeled mobile robot in cluttered environments containing the static and/or dynamic obstacle has become a very popular and challenging research topic in the last decade. Notwithstanding of the amount of publications dealing with the different aspects of this field, the ongoing efforts to address the more effective and creative methods is...
متن کامل