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|Title:||A practical leader-follower tracking control scheme for multiple nonholonomic mobile robots in unknown obstacle environments||Authors:||Wang, Yuanzhe
|Keywords:||Engineering::Electrical and electronic engineering||Issue Date:||2018||Source:||Wang, Y., Wang, D., Yang, S., & Shan, M. (2019). A practical leader-follower tracking control scheme for multiple nonholonomic mobile robots in unknown obstacle environments. IEEE Transactions on Control Systems Technology, 27(4), 1685-1693. doi:10.1109/tcst.2018.2825943||Journal:||IEEE Transactions on Control Systems Technology||Abstract:||This brief addresses the leader-follower (L-F) tracking control problem for multiple nonholonomic mobile robots in unknown obstacle environments. Unlike most of the existing approaches investigating similar problems, a series of practical issues is considered and tackled in the proposed scheme. For leader tracking, a class of bounded barrier functions are employed to formulate distance and bearing angle constraints introduced by sensor limitations and L-F collision avoidance requirement. To ensure robot safety in unknown environments, a multiregion obstacle avoidance algorithm is proposed which prioritizes different control objectives in different regions. This brief also studies the leader-loss situation, which may be caused by illumination variation, motion blurring, or visual occlusion by obstacles. To deal with this case, a fault-tolerant strategy is designed to drive $F$ to the place where $L$ was lost immediately. The control scheme proposed in the brief is primarily designed for a communication-free environment where only local state measurements are available. Furthermore, it has control input constraints explicitly taken into account. Real robot experiment has been performed to validate the proposed method.||URI:||https://hdl.handle.net/10356/137402||ISSN:||1063-6536||DOI:||10.1109/TCST.2018.2825943||Rights:||© 2018 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works. The published version is available at: https://doi.org/10.1109/TCST.2018.2825943||Fulltext Permission:||open||Fulltext Availability:||With Fulltext|
|Appears in Collections:||EEE Journal Articles|
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