Open AccessAdaptive leader‐follower formation control of non‐holonomic mobile robots using active vision
Author(s) -
Chen Xiaohan,
Jia Yingmin
Publication year - 2015
Publication title -
iet control theory and applications
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 1.059
H-Index - 108
eISSN - 1751-8652
pISSN - 1751-8644
DOI - 10.1049/iet-cta.2014.0019
Subject(s) - holonomic , controller (irrigation) , control theory (sociology) , mobile robot , computer science , robot , range (aeronautics) , machine vision , computer vision , adaptive control , artificial intelligence , projection (relational algebra) , control (management) , control engineering , engineering , algorithm , agronomy , biology , aerospace engineering
This study is concerned with the leader‐follower formation control of non‐holonomic mobile robots without communication. A pan‐controlled camera is the sole sensor used by the follower to observe the leader. A new vision‐based formation system without range states is proposed, which eliminates the need of inter‐robot range estimation. An adaptive formation controller and an adaptive camera controller are designed in the presence of unknown leader's velocities and vision‐related parameters. A parameter projection algorithm is integrated into the controllers to bound the control inputs. The camera controller ensures the stable observation of the leader's features. Thus the camera constantly provides visual measurements for the formation controller which guarantees the formation maintenance. Simulation and experimental results verify the effectiveness of the proposed active vision‐based formation control approach.