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http://dx.doi.org/10.5370/KIEE.2011.60.9.1761

Obstacle Avoidance of Leader-Follower Formation  

Oh, Young-Suk (인하대학교 로봇공학)
Park, Jong-Hun (인하대학교 로봇공학)
Kim, Jin-Hwan (인하공업전문대학 전기정보과)
Huh, Uk-Youl (인하대학교 공과대학 전기공학과)
Publication Information
The Transactions of The Korean Institute of Electrical Engineers / v.60, no.9, 2011 , pp. 1761-1766 More about this Journal
Abstract
This paper presents obstacle avoidance of Leader-Follower formation. The follower robot maintain the formation with leader robot and avoid the detected obstacle. When obstacle is detected, follower robot avoid it considering leader robot and follower robot position and follower robot and obstacle position. In addition, follower robot avoid obstacle irrespective of obstacle size. Controller of follower robot is designed to satisfy Lyapunov stability by backstepping method. Simulation results shows that the designed controller has a stable performance.
Keywords
Mobile robot; Leader-follower formation control; Obstacle avoidance;
Citations & Related Records
Times Cited By KSCI : 1  (Citation Analysis)
Times Cited By SCOPUS : 0
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