Tracking Algorithm Using Leader Follower Approach for Multi Robots

摘要

This paper deals with a new type control formation for multi robot system (MRS). The formation can be either of leader-follower or follower-follower type. Using Leader Follower Approach (LFA), one robot acts as a leader whose motion defines the path for the entire group. All follower robots will use the defined path to attain a certain goal or to achieve a defined task. Follower robots should position themselves in accordance with the position and orientation of the leader. The leader moves along an assigned trajectory and the followers maintains the desired distance and orientation with respect to the leader robot. For each robot, a coordinate transformation is first derived to determine the error in the system. Based on this transformation, a tracking algorithm is designed with an observer to minimize the error. The algorithm is proposed and designed in such a way that the system kinematic equations derived for facilitating the development of a tracking controller would lead the desired formation parameters to zero. Simulation results illustrate the soundness of this algorithm.