Intelligent leader-follower behaviour for unmanned ground-based vehicles

• Autorzy: Sadeghi-Tehran P. , Andreu J. , Angelov P. , Zhou X.
• Języki publikacji: EN

Abstrakty

EN

In this paper an autonomous leader-follower is presented and tested in an unknown and unpredictable environment. Three different types of controller named as First principles-based proportional (P) controller, Fuzzy Logic Controller, and Model-based Predictive Controller are developed and tested in real-time to provide a smooth following behaviour. The follower used the leader's status sent by a smart phone to differentiate between obstacles and the leader and then using two types of sensor, laser and sonar, during the obstacle avoidance procedure. In order to identify the leader again out of many obstacles around, two alternative techniques are proposed using superposition of the scans collected by the laser and predicting the leader's trajectory using evolving Takagi- Sugeno (eTS). At the end, experiments are presented with a real-time mobile robot at Lancaster University.

Słowa kluczowe

EN

leader-following robot; human-robot interaction; evolving Takagi-Sugeno

• Wydawca: Łukasiewicz Industrial Research Institute for Automation and Measurements PIAP
• Czasopismo: Journal of Automation Mobile Robotics and Intelligent Systems
• Rocznik: 2011
• Tom: Vol. 5, No. 1
• Strony: 36--46
• Opis fizyczny: Bibliogr. 37 poz., rys.

Twórcy

autor

Sadeghi-Tehran P.

autor

Andreu J.

autor

Angelov P.

autor

Zhou X.

• Intelligent Systems Laboratory, School of Computing and Communications, Infolab 21 Lancaster University, LA1 4WA, United Kingdom,

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