Robotic leader-follower navigation and fleet management control method

摘要

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.

主权项

1. A robotic leader-follower navigation and fleet management control method, comprising the steps of:
performing Simultaneous Localization and Mapping (SLAM) in a group leader of a nonholonomic group of autonomous robots using at least one sensor, the SLAM generating a map of landmarks in an environment; the group leader localizing itself with respect to the map to navigate the environment; executing potential field formation control in follower members of the nonholonomic group of autonomous robots; computing a desired formation of the autonomous robots by utilizing a control law characterized by the relationui=fci+∑j=1,j≠in⁢faij-b⁢x.iandfci=-∇xi⁢Vci⁡(xi), where ƒci represents a force between a center of the desired formation, represented by a position of the group leader, and an i-th one of the follower members, wherein the force maintains each of the follower members at a radius of a circle circumscribing a polygon at a distance from the center of the desired formation; and the follower members following the group leader in a predefined formation pattern based on the desired formation and the potential field with respect to each other and with respect to the group leader.