Trajectory Tracking and Formation Control of Multiple Mobile Robot based on Leader Follower Approach: Comparing Constant and Non-constant Velocity of the Leader

M. Latif, Sri Herawati

Abstract

Formation control with leader follower approach and tracking trajectory with comparing constant and non-constant velocity of the leader is proposed in this paper. Non-constant velocity aim to solve the problem of time requirement to achieve asymptotic tracking error in velocity constant issue of the leader. Controller is designed based on mobile robot kinematics model. Mobile robot used similar type of model and characteristics. Trajectory information used to control the leader's velocity. Position and velocity of the leader used to determine the follower movement velocity. Follower tracks the virtual position to make a rigid formation. The experiment was carried out using two scenarios. First, leader moves linearly toward a destination point, second, leader moves along a circular trajectory. Each scenario analyzed and compared between constant and non-constant velocity of the leader. The experimental results show leader's velocity with a non-constant value has a slightly slower than constant velocity to achieve formation error that is close to zero. However, the leader's velocity with a non-constant value has a faster time to achieve tracking trajectory error that is close to zero.

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Paper Citation


in Harvard Style

Latif M. and Herawati S. (2020). Trajectory Tracking and Formation Control of Multiple Mobile Robot based on Leader Follower Approach: Comparing Constant and Non-constant Velocity of the Leader.In Proceedings of the International Conference on Culture Heritage, Education, Sustainable Tourism, and Innovation Technologies - Volume 1: CESIT, ISBN 978-989-758-501-2, pages 377-383. DOI: 10.5220/0010312103770383


in Bibtex Style

@conference{cesit20,
author={M. Latif and Sri Herawati},
title={Trajectory Tracking and Formation Control of Multiple Mobile Robot based on Leader Follower Approach: Comparing Constant and Non-constant Velocity of the Leader},
booktitle={Proceedings of the International Conference on Culture Heritage, Education, Sustainable Tourism, and Innovation Technologies - Volume 1: CESIT,},
year={2020},
pages={377-383},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0010312103770383},
isbn={978-989-758-501-2},
}


in EndNote Style

TY - CONF

JO - Proceedings of the International Conference on Culture Heritage, Education, Sustainable Tourism, and Innovation Technologies - Volume 1: CESIT,
TI - Trajectory Tracking and Formation Control of Multiple Mobile Robot based on Leader Follower Approach: Comparing Constant and Non-constant Velocity of the Leader
SN - 978-989-758-501-2
AU - Latif M.
AU - Herawati S.
PY - 2020
SP - 377
EP - 383
DO - 10.5220/0010312103770383