TY - GEN
T1 - Sonar sensor based relative localization for leader-following formation control
AU - Choi, In Sung
AU - Choi, Jong Suk
AU - Chung, Woo Jin
PY - 2011
Y1 - 2011
N2 - Using sonar sensors is one of the most popular sensing methods for mobile robots, since the sensor is inexpensive and will simply give distance information. However, in general, the sonar sensor has difficulty in measuring the accurate direction of object while it is used to avoid obstacles such as large boxes, walls and so on since it has a large angle of beam. Nevertheless, this paper proposes to use the sonar sensors for localizing other robots as well as detecting obstacles, and represents the simplest algorithm to obtain the relative information: heading angle, bearing angle and distance between the leader and follower. A control algorithm for keeping (d, φ)-formation is presented by obtaining linear and angular velocities of the follower robot.
AB - Using sonar sensors is one of the most popular sensing methods for mobile robots, since the sensor is inexpensive and will simply give distance information. However, in general, the sonar sensor has difficulty in measuring the accurate direction of object while it is used to avoid obstacles such as large boxes, walls and so on since it has a large angle of beam. Nevertheless, this paper proposes to use the sonar sensors for localizing other robots as well as detecting obstacles, and represents the simplest algorithm to obtain the relative information: heading angle, bearing angle and distance between the leader and follower. A control algorithm for keeping (d, φ)-formation is presented by obtaining linear and angular velocities of the follower robot.
KW - Formation control
KW - Leader-following
KW - Relative localization
KW - Sonar
UR - http://www.scopus.com/inward/record.url?scp=84863044857&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84863044857&partnerID=8YFLogxK
M3 - Conference contribution
AN - SCOPUS:84863044857
SN - 9781457708350
T3 - International Conference on Control, Automation and Systems
SP - 202
EP - 205
BT - ICCAS 2011 - 2011 11th International Conference on Control, Automation and Systems
T2 - 2011 11th International Conference on Control, Automation and Systems, ICCAS 2011
Y2 - 26 October 2011 through 29 October 2011
ER -