VFH based Obstacle Avoidance System for Leader-Follower Formation Control

Title
VFH based Obstacle Avoidance System for Leader-Follower Formation Control
Authors
최인성최종석
Keywords
VFH; Obstacle avoidance; Leader-Follower formaton control; multi-agent robot; Formation control; Leader-following; Vector Field Histogram
Issue Date
2013-10
Publisher
the 44th International Symposium on Robotics
Abstract
This paper introduce previous research about leader-following formation control and system structure and explain about modification of VFH algorithm to suitable for leader-following formation control. Finally, these two process are integrated by our proposed method. The robot is running as -control mode and VFH mode alternately. When running mode is changed VFH to (d, -control, discontinuity is occurred in velocity of the robot. To solve this problem, we proposed gradual change in formation method. Simulation and outdoor experiment result used to confirm performance of our proposal.
URI
http://pubs.kist.re.kr/handle/201004/46249
Appears in Collections:
KIST Publication > Conference Paper
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