VISION-BASED MOBILE ROBOT LEADER-FOLLOWER CONTROL USING MODEL PREDICTIVE CONTROL

Tongying Guo, Haichen Wang, Yong Liu, Ming Li, and Ying Wang

Keywords

Mobile Robots, Leader Follower Control, Model Predictive Control, Computer Vision

Abstract

Leader-follower control of mobile robots has been an attractive topic in the robotics community. In this paper, a vision based leader follower tracking control system is presented using two autonomous mobile robots and model predictive control (MPC). In particular, the follower robot employs a vision sensor and a laser scanner to acquire the distance and orientation information between the leader robot and the follower. Then, the Extended Kalman Filter (EKF) algorithm is employed to remove the measurement noise. A vision based model predictive control (MPC) method for nonholonomic mobile robots is proposed to implement reliable leader follower tracking control. The simulation result s under different control horizons are provided to validate the proposed control strategy.

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