Experimental Verification of the Leader-Follower Formation Control of Two Wheeled Mobile Robots with Obstacle Avoidance

Authors

Keywords:

leader- follower formation, experimental verification, obstacle avoidance, Wheeled Mobile Robot, differential configuration

Abstract

In this work the experimental verification of the control of two wheeled mobile robots with differential configuration under a leader-follower formation is presented, where the leader performs the task of tracking a predefined trajectory, as well as, it is able to avoid obstacles and it sends information of the point-to-point trajectories reached to the follower mobile robot. The follower has the ability to estimate the trajectory of the leader robot only based on the information received from the leader, for arbitrary initial conditions. Experimental verifications with two wheeled mobile robots TurtleBot3 Burger illustrate the performance of the proposed technique, using the robot operating system (ROS) and Python.

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Author Biographies

Juan Luis Mata-Machuca, Instituto Politecnico Nacional

Juan L. Mata-Machuca recibió el grado de Doctor en Ciencias en la Especialidad de Control Automático por el Centro de Investigación y de Estudios Avanzados del Instituto Politécnico Nacional (CINVESTAV-IPN, México), en 2013. Actualmente, es profesor investigador de tiempo completo en la Academia de Mecatrónica UPIITA-IPN, miembro Nivel 1 del Sistema Nacional de Investigadores y miembro de la Red de Expertos en Robótica y Mecatrónica del IPN. Es autor y coautor de publicaciones de investigación en revistas, conferencias, capítulos de libros y libros.

Luis Fernando Zarazua, National Polytechnic Institute

Luis F. Zarazua Aguilar recibió el título de Ingeniero en Mecatrónica de la Unidad Profesional Interdisciplinaria en Ingeniería y Tecnologías Avanzadas del Instituto Politécnico Nacional (UPIITA-IPN) en 2020. Le fue otorgada la Beca de Estímulo Institucional de Formación de Investigadores (BEIFI) y participó en proyectos de investigación institucionales. Realizó actvidades de investigación en el Laboratorio Institucional de la Red de Expertos en Robótica y Mecatrónica del IPN. Sus áreas de interés son la robótica, el control de sistemas mecatrónicos y la automatización industrial.

Ricardo Aguilar-López, CINVESTAV-IPN

Ricardo Aguilar-López recibió el grado de Doctor en Ciencias en Ingeniería Química por la Universidad Autónoma Metropolitana en 1998. Realizó un posdoctorado en el Instituto Mexicano del Petróleo (2000) y además un doctorado en ciencias en la especialidad de control automático en el CINVESTAV-IPN (2003). Sus áreas de interés es el diseño de observadores para sistemas no lineales y control de procesos. Es autor y coautor de mas de 90 artículos publicados en revistas internacionales. Actualmente, es investigador en el Departamento de Biotecnología y Bioingeniería del CINVESTAV-IPN y miembro del Sistema Nacional de Investigadores desde 1998, (actualmente, nivel III).

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Published

2021-03-19

How to Cite

Mata-Machuca, J. L., Zarazua, L. F., & Aguilar-López, R. (2021). Experimental Verification of the Leader-Follower Formation Control of Two Wheeled Mobile Robots with Obstacle Avoidance. IEEE Latin America Transactions, 19(8), 1417–1424. Retrieved from https://latamt.ieeer9.org/index.php/transactions/article/view/4668

Issue

Vol. 19 No. 8 (2021): Ordinary Issue

Section

Articles