Bearing-based localization for leader-follower formation control
نویسندگان
چکیده
The observability of the leader robot system and the leader-follower formation control are studied. First, the nonlinear observability is studied for when the leader robot observes landmarks. Second, the system is shown to be completely observable when the leader robot observes two different landmarks. When the leader robot system is observable, multi-robots can rapidly form and maintain a formation based on the bearing-only information that the follower robots observe from the leader robot. Finally, simulations confirm the effectiveness of the proposed formation control.
منابع مشابه
Leader Follower Formation Control of Ground Vehicles Using Camshift Based Guidance
Autonomous ground vehicles have been designed for the purpose of that relies on ranging and bearing information received from forward looking camera on the Formation control . A visual guidance control algorithm is designed where real time image processing is used to provide feedback signals. The vision subsystem and control subsystem work in parallel to accomplish formation control. A proporti...
متن کاملNeural Network Control and Wireless Sensor Network-based Localization of Quadrotor UAV Formations
In recent years, quadrotor helicopters have become a popular unmanned aerial vehicle (UAV) platform, and their control has been undertaken by many researchers (Dierks & Jagannathan, 2008). However, a team of UAV’s working together is often more effective than a single UAV in scenarios like surveillance, search and rescue, and perimeter security. Therefore, the formation control of UAV’s has bee...
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 کاملVision-based Localization and Control of Leader-Follower Formations
The paper deals with vision-based localization and control of leader-follower formations of unicycle robots. Each robot is equipped with a panoramic camera which only provides the view-angle to the other robots. As an original contribution, the localization problem is analytically studied using a new observability condition valid for general nonlinear systems and based on the Extended Output Ja...
متن کاملAirborne Seeker Application in Three Dimensional Formation Flight of UAVs
This paper deals with the leader-follower formation control problem while communication constraint in data transmitting is considered. From a practical point of view, we study the case in which unmanned vehicles are subject to the limited sensing, and communication is of a particular interest. A three-dimensional formation flight of multi-unmanned aerial vehicles with leader-follower configurat...
متن کامل