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Intelligent leader follower behaviour for unmanned ground-based vehicles

Sadeghi Tehran, Pouria and Andreu, Javier and Angelov, Plamen and Zhou, Xiaowei (2011) Intelligent leader follower behaviour for unmanned ground-based vehicles. Journal of Automation, Mobile Robotics & Intelligent Systems, 5 (1). pp. 36-47. ISSN 1897-8649

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In this paper an autonomous leader-follower is presented and tested in an unknown and unpredictable environment. Three different types of controller named as First principles-based proportional (P) controller, Fuzzy Logic Controller, and Model-based Predictive Controller are developed and tested in real-time to provide a smooth following behaviour. The follower used the leader's status sent by a smart phone to differentiate between obstacles and the leader and then using two types of sensor, laser and sonar, during the obstacle avoidance procedure. In order to identify the leader again out of many obstacles around, two alternative techniques are proposed using superposition of the scans collected by the laser and predicting the leader's trajectory using evolving Takagi- Sugeno (eTS). At the end, experiments are presented with a real-time mobile robot at Lancaster University.

Item Type: Article
Journal or Publication Title: Journal of Automation, Mobile Robotics & Intelligent Systems
Uncontrolled Keywords: robotics ; intelligent systems ; UGV
Departments: Faculty of Science and Technology > School of Computing & Communications
ID Code: 35520
Deposited By: Dr. Plamen Angelov
Deposited On: 17 Jan 2011 16:30
Refereed?: Yes
Published?: Published
Last Modified: 12 Aug 2014 11:31
Identification Number:

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