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Localization and Follow-the-Leader Control of a Heterogeneous Group of Mobile Robots

[+] Author Affiliations
Jiangyang Huang, Shane M. Farritor, Ala’ Qadi, Steve Goddard

University of Nebraska at Lincoln

Paper No. IMECE2005-80008, pp. 1411-1420; 10 pages
  • ASME 2005 International Mechanical Engineering Congress and Exposition
  • Dynamic Systems and Control, Parts A and B
  • Orlando, Florida, USA, November 5 – 11, 2005
  • Conference Sponsors: Dynamic Systems and Control Division
  • ISBN: 0-7918-4216-9 | eISBN: 0-7918-3769-6
  • Copyright © 2005 by ASME


This paper investigates the control and localization of a heterogeneous (different sensor, mechanical, computational capabilities) group of mobile robots. The group considered here has several inexpensive sensor-limited and computationally-limited robots which follow a leader robot in a desired formation over long distances. This situation is similar to a search, de-mining, or planetary exploration situation where there are several deployable/disposable robots led by a more sophisticated leader. Specifically, the robots in this paper are designed for highway safety applications where they automatically deploy and maneuver safety barrels commonly used to control traffic in highway work zones. Complex sensing and computation are performed by the leader while the followers perform simple operations under the leader’s guidance. This architecture allows followers to be simple, inexpensive and have minimal sensors. Theoretical and statistical analysis of a tracking-based localization method is provided. A simple follow-the-leader control method is also presented. Experimental results of localization and follow-the-leader formation-motion are included.

Copyright © 2005 by ASME
Topics: Mobile robots



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