Sonar sensor based relative localization for leader-following formation control

In Sung Choi, Jong Suk Choi, Woo Jin Chung

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

4 Citations (Scopus)

Abstract

Using sonar sensors is one of the most popular sensing methods for mobile robots, since the sensor is inexpensive and will simply give distance information. However, in general, the sonar sensor has difficulty in measuring the accurate direction of object while it is used to avoid obstacles such as large boxes, walls and so on since it has a large angle of beam. Nevertheless, this paper proposes to use the sonar sensors for localizing other robots as well as detecting obstacles, and represents the simplest algorithm to obtain the relative information: heading angle, bearing angle and distance between the leader and follower. A control algorithm for keeping (d, φ)-formation is presented by obtaining linear and angular velocities of the follower robot.

Original languageEnglish
Title of host publicationInternational Conference on Control, Automation and Systems
Pages202-205
Number of pages4
Publication statusPublished - 2011 Dec 1
Event2011 11th International Conference on Control, Automation and Systems, ICCAS 2011 - Gyeonggi-do, Korea, Republic of
Duration: 2011 Oct 262011 Oct 29

Other

Other2011 11th International Conference on Control, Automation and Systems, ICCAS 2011
CountryKorea, Republic of
CityGyeonggi-do
Period11/10/2611/10/29

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Keywords

  • Formation control
  • Leader-following
  • Relative localization
  • Sonar

ASJC Scopus subject areas

  • Artificial Intelligence
  • Computer Science Applications
  • Control and Systems Engineering
  • Electrical and Electronic Engineering

Cite this

Choi, I. S., Choi, J. S., & Chung, W. J. (2011). Sonar sensor based relative localization for leader-following formation control. In International Conference on Control, Automation and Systems (pp. 202-205). [6106274]