Authors: Elzbieta Jarzebowska
Addresses: Institute of Aeronautics and Applied Mechanics, Warsaw University of Technology, 00-665 Warsaw, Nowowiejska 24 str., Poland
Abstract: The paper develops a control theoretic leader-to-follower framework for performing task-based missions. It enables tracking trajectories and other task-based motions. Its modular architecture enables switching between controllers for a leader and followers as well as changing followers based on a specified mission. The framework is based on the model reference tracking control strategy for programmed motion. Initially, the strategy is developed for a single mobile robot. Its modular structure enables its extension to collaborating robots.
Keywords: nonholonomic systems tracking; leader–follower tracking; tracking control; nonholonomic systems; task-based missions; control design; trajectory tracking; model reference control; mobile robots; robot control; collaborating robots; robot cooperation; multiple robots.
International Journal of Vehicle Autonomous Systems, 2011 Vol.9 No.3/4, pp.203 - 218
Available online: 21 Jul 2011 *Full-text access for editors Access for subscribers Purchase this article Comment on this article