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Vision-Based Convoy Forming for Mobile Robots

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Intelligent Systems in Technical and Medical Diagnostics

Part of the book series: Advances in Intelligent Systems and Computing ((AISC,volume 230))

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Abstract

An approach is proposed to form a convoy of vehicles autonomously following a given path. Particularly, the part of the complex mobile robot guidance system related to leader-follower control process is presented in detail. The ultimate objective is to use the local vision system of mobile robotic platform to follow the moving goal as accurate as possible simultaneously keeping the constant distance from the leading robot. Then, a proper controller design is proposed together with the implementation for the Amigobot mobile robotic platform from Adept Mobile Robots Inc. A verification of the guidance system performance via navigation experiments is also presented.

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Author information

Authors and Affiliations

  1. Institute of Control and Computation Engineering, University of Zielona Góra, ul. Podgórna 50, 65-246, Zielona Góra, Poland

    Damian Kowalów & Maciej Patan

Authors
  1. Damian Kowalów
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  2. Maciej Patan
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Corresponding author

Correspondence to Damian Kowalów .

Editor information

Editors and Affiliations

  1. , Institute of Control and, University of Zielona Gora, ul. Podgorna 50, Zielona Gora, 65-246, Poland

    Jozef Korbicz

  2. , Institute of Control and, University of Zielona Gora, ul. Podgorna 50, Zielona Gora, 65-246, Poland

    Marek Kowal

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Kowalów, D., Patan, M. (2014). Vision-Based Convoy Forming for Mobile Robots. In: Korbicz, J., Kowal, M. (eds) Intelligent Systems in Technical and Medical Diagnostics. Advances in Intelligent Systems and Computing, vol 230. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-39881-0_31

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  • DOI: https://doi.org/10.1007/978-3-642-39881-0_31

  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-642-39880-3

  • Online ISBN: 978-3-642-39881-0

  • eBook Packages: EngineeringEngineering (R0)

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