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Proceedings Paper

Sensors and algorithms for small robot leader/follower behavior
Author(s): Robert Hogg; Arturo L. Rankin; Michael C. McHenry; Dan Helmick; Chuck Bergh; Stergios I. Roumeliotis; Larry Henry Matthies
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Paper Abstract

Tracked mobile robots in the 20 kg size class are under development for applications in urban reconnaissance. For efficient deployment, it is desirable for teams of robots to be able to automatically execute leader/follower behaviors, with one or more followers tracking the pat+6|+ken by a leader. The key challenges to enabling such a capability are (1) to develop sensor packages for such small robots that can accurately determine the path of the leader and (2) to develop path-following algorithms for the subsequent robots. To date, we have integrated gyros, accelerometers, compass/inclinometers, odometry, and differential GPS into an effective sensing package for a small urban robot. This paper describes the sensor package, sensor processing algorithm, and path tracking algorithm we have developed for the leader/follower problem in small robots and shows the results of performance characterization of the system. We also document pragmatic lessons learned about design, construction, and electromagnetic interference issues particular to the performance of state sensors on small robots.

Paper Details

Date Published: 20 September 2001
PDF: 14 pages
Proc. SPIE 4364, Unmanned Ground Vehicle Technology III, (20 September 2001); doi: 10.1117/12.439967
Show Author Affiliations
Robert Hogg, Jet Propulsion Lab. (United States)
Arturo L. Rankin, Jet Propulsion Lab (United States)
Michael C. McHenry, Jet Propulsion Lab. (United States)
Dan Helmick, Jet Propulsion Lab. (United States)
Chuck Bergh, Jet Propulsion Lab. (United States)
Stergios I. Roumeliotis, Jet Propulsion Lab. (United States)
Larry Henry Matthies, Jet Propulsion Lab. (United States)

Published in SPIE Proceedings Vol. 4364:
Unmanned Ground Vehicle Technology III
Grant R. Gerhart; Chuck M. Shoemaker, Editor(s)

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