ROBOTIC LEADER-FOLLOWER NAVIGATION AND FLEET MANAGEMENT CONTROL METHOD
First Claim
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1. A robotic leader-follower navigation and fleet management control method, comprising the steps of:
- using at least one sensor to assist in performing Simultaneous Localization and Mapping (SLAM) in a group leader of a nonholonomic group of autonomous robots; and
executing potential field formation control in follower members of the nonholonomic group of autonomous robots;
wherein the group leader creates a map of landmarks in an environment and localizes itself based on the map to thereby navigate the environment, the follower members following the group leader in a predefined formation pattern based on the potential field with respect to each other and with respect to the group leader.
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Abstract
The robotic leader-follower navigation and fleet management control method implements SLAM in a group leader of a nonholonomic group of autonomous robots, while, at the same time, executing a potential field control strategy in follower members of the group.
24 Citations
9 Claims
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1. A robotic leader-follower navigation and fleet management control method, comprising the steps of:
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using at least one sensor to assist in performing Simultaneous Localization and Mapping (SLAM) in a group leader of a nonholonomic group of autonomous robots; and executing potential field formation control in follower members of the nonholonomic group of autonomous robots; wherein the group leader creates a map of landmarks in an environment and localizes itself based on the map to thereby navigate the environment, the follower members following the group leader in a predefined formation pattern based on the potential field with respect to each other and with respect to the group leader. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9)
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Specification