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Virtual target tracking of mobile robot and its application to formation control |
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| Authors: | Young-Ho Lee Shin-Guk Kim Tae-Yong Kuc Jong-Koo Park Sang-Hoon Ji Yong-Seon Moon Young-Jo Cho |
| Affiliation: | 1. School of Electrical and Electronics Engineering, Sungkyunkwan University, Seoul, Korea 2. Interaction and Robotics Research Center, KIST, Seoul, Korea 3. Robot Convergence Research Center, KITECH, Seoul, Korea 4. Department of Electrical Engineering, Sunchon National University, Suncheon-si, Korea 5. Intelligent Robot Research Division, ETRI, Daejeon, Korea |
| Abstract: | A virtual target tracking approach is proposed for kinematic control of mobile robot. In the controller, linear and angular velocity inputs are generated by using the local data of robot position and orientation along with the estimated velocity of target object. Applying the proposed approach to a cooperative robot group with arbitrary number of multiple mobile robots, it is possible to create various robot formations for cooperative navigation and tracking of moving object. The developed controller is shown to be stable and convergent through theoretical proof and a series of experiments. |
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