Leader-follower formation control without information of heading angle

In Sung Choi, Jong Suk Choi, Woo Jin Chung

Research output: Chapter in Book/Report/Conference proceedingConference contribution

4 Citations (Scopus)

Abstract

This paper presents a robust formation control method independent on noise of camps sensor. There are various formation control method for multi-robot system. These methods offer great way to keep the (d, φ)-formation. In real environment, however, heading angle of each robot is affected by noise of compass sensor. Because of this reason, follower can't keep exact formation. In this paper, we suggest formation control method that uses PID controller to resolve this problem. And we also prove that PID controller is effect to reduce position error.

Original languageEnglish
Title of host publication2012 IEEE/SICE International Symposium on System Integration, SII 2012
Pages842-846
Number of pages5
DOIs
Publication statusPublished - 2012 Dec 1
Event2012 IEEE/SICE International Symposium on System Integration, SII 2012 - Fukuoka, Japan
Duration: 2012 Dec 162012 Dec 18

Other

Other2012 IEEE/SICE International Symposium on System Integration, SII 2012
CountryJapan
CityFukuoka
Period12/12/1612/12/18

Fingerprint

Robots
Controllers
Sensors

ASJC Scopus subject areas

  • Information Systems

Cite this

Choi, I. S., Choi, J. S., & Chung, W. J. (2012). Leader-follower formation control without information of heading angle. In 2012 IEEE/SICE International Symposium on System Integration, SII 2012 (pp. 842-846). [6427361] https://doi.org/10.1109/SII.2012.6427361

Leader-follower formation control without information of heading angle. / Choi, In Sung; Choi, Jong Suk; Chung, Woo Jin.

2012 IEEE/SICE International Symposium on System Integration, SII 2012. 2012. p. 842-846 6427361.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Choi, IS, Choi, JS & Chung, WJ 2012, Leader-follower formation control without information of heading angle. in 2012 IEEE/SICE International Symposium on System Integration, SII 2012., 6427361, pp. 842-846, 2012 IEEE/SICE International Symposium on System Integration, SII 2012, Fukuoka, Japan, 12/12/16. https://doi.org/10.1109/SII.2012.6427361
Choi IS, Choi JS, Chung WJ. Leader-follower formation control without information of heading angle. In 2012 IEEE/SICE International Symposium on System Integration, SII 2012. 2012. p. 842-846. 6427361 https://doi.org/10.1109/SII.2012.6427361
Choi, In Sung ; Choi, Jong Suk ; Chung, Woo Jin. / Leader-follower formation control without information of heading angle. 2012 IEEE/SICE International Symposium on System Integration, SII 2012. 2012. pp. 842-846
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