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All Journal IAES International Journal of Robotics and Automation (IJRA)
Atsushi Fujimori
University of Yamanashi
Automotive Engineering Electrical & Electronics Engineering

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Formation shape transition of multiple mobile robots in leader-follower method Atsushi Fujimori; Kotaro Oh-kiri; Shinsuke Oh-hara
IAES International Journal of Robotics and Automation (IJRA) Vol 10, No 4: December 2021
Publisher : Institute of Advanced Engineering and Science

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.11591/ijra.v10i4.pp275-288

Abstract

This paper presents a formation shape transition technique of multiple mobile robots in the leader-follower method as a new function that gives flexibility to the formation control of mobile robots with multiple sonars. First, we propose basic shape transition methods for the case of two mobile robots under formation control by the leader-fol lower method, and then extend the methods to the shape transition of three mobile robots. Since the multiple sonars attached to the mobile robot are located forward, including the left and right sides, there is a constraint on the formation shape feasible by the leader-follower method. In the case of two mobile robots, the follower must be positioned behind the leader. Therefore, there are three shapes of the follower relative to the leader: line, right-back, left-back. In the case of three mobile robots, t hree types of line, zigzag, triangle shapes are considered. The effectiveness of the proposed technique is demonstrated by experiments using real mobile robots.
Person following control for a mobile robot based on color invariance corresponding to varying illumination Shinsuke Oh-hara; Kaoru Saito; Atsushi Fujimori
IAES International Journal of Robotics and Automation (IJRA) Vol 11, No 1: March 2022
Publisher : Institute of Advanced Engineering and Science

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.11591/ijra.v11i1.pp33-42

Abstract

In this paper, we present a method of person following control for a mobile robot using visual information. Color information is often used for object tracking. Color information of objects varies greatly under illumination changing environment. In such conditions, the robot controlled by visual information may lose sight of a person. In this paper, we consider a robust person following method by color invariance and image-based control. Color invariance shows robust features of colored objects in terms of changing illumination conditions. At first, we estimate the lowest positions of both feet of a tracked person through particle filters based on color invariances. Then, we control the velocity of the robot to track the person by using the image-based controller. Experimental results using an actual robot demonstrate the effectiveness of the proposed method.
Co-Authors Kaoru Saito Kotaro Oh-kiri Shinsuke Oh-hara Shinsuke Oh-hara