LOS (Line of Sight) Algorithm and Unknown Input Observer Based Leader-Follower Formation Control
Suk-Min Yoon, Tae–Kyeong Yeu, Seong-Jea Park, Sup Hong, Sang-Bong Kim · Journal of Institute of Control Robotics and Systems · 2010
This paper proposes about decentralized control approach based Leader-Follower formation control using LOS (Line of Sight) algorithm and unknown input observer. The position of robots which is a basic information in multi-robot or single robot motion control is determined by localization algorithm fusing UPS (Ultrasonic Position System) and kinematics model. For formation control, a decentralized control approach individually installing a local controller in leader and follower robot is adopted. Leader robot is controlled to track a specified trajectory by LOS algorithm, and the other robots follow the leader by local controller based on tracking platoon level function, self-sensing data and estimated information from unknown input observer. The performance of proposed method is proven through the formation experiment of two vehicle models.