Aspects regarding the object following control procedure for wheeled mobile robots

摘要

Abstract:- The wheeled mobile robots are representing an increasing research domain, both the hardware and the software part representing a challenge. Among the many tasks that the robots have to realize, the object following task is one of the most important ones. Almost every group of robots, which are realizing a cooperative action has to be able to accomplish this task, as well as a single robot has to be able to reach a detected object in the environment. The aim of this paper is to provide a control strategy for wheeled mobile robots realizing the object following task. Also, the paper provides a redundant solution for the robot following function in the case of multiple wheeled mobile robots, solution based on wireless communication. Infrared and sonar sensors are used to provide the inputs for the controller. The control strategy takes into consideration that the robot moves in a dynamic environment and it has to follow the target object regardless of other interfering elements. Key-Words: object following control, PID control, redundancy, wheeled mobile robots, cooperative mobile