NDLI: Collision-free leader-following formation navigation with consideration of initial movements of followers

Content Provider	IEEE Xplore Digital Library
Author	Sakurama, K. Suzuki, M. Nakano, K.
Copyright Year	2009
Description	Author affiliation: The University of Electro-Communications, 1-5-1 Chofugaoka, Chofu-shi, Tokyo 182-8585 Japan (Sakurama, K.; Suzuki, M.; Nakano, K.)
Abstract	In this paper, we discuss the leader-following formation navigation (LFFN), which is one of the most important issues in formation control. In this formation, one leader is controlled by a human operator, while multiple followers pass along the leader's trajectory in the same motion to the leader. The collision avoidance problem in the LFFN has been discussed in a previous work. However, the problem of initial movements of followers still remains. The followers move along the leader's path behind the leader at some intervals. Thus, around the initial time, the followers cannot determine routes to track because there is no leader's path before the initial time. This paper discusses how the followers should move around the initial time in order to start up naturally and to achieve the LFFN afterwards. The effectiveness of the proposed method is demonstrated by a simulation with three mobile robots.
Starting Page	4108
Ending Page	4113
File Size	244864
Page Count	6
File Format	PDF
ISBN	9784907764340
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2009-08-18
Publisher Place	Japan
Access Restriction	Subscribed
Rights Holder	SICE
Subject Keyword	Collision avoidance Humans Aircraft navigation Mobile robots Motion control Aerospace control Marine vehicles Shape Multiple robots Leader-following Formation navigation
Content Type	Text
Resource Type	Article

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1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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