DC Field | Value | Language |
---|---|---|
dc.contributor.author | Han, Seungho | ko |
dc.contributor.author | Yang, Seunghoon | ko |
dc.contributor.author | Lee, Yeongseok | ko |
dc.contributor.author | Lee, Minyoung | ko |
dc.contributor.author | Park, Ji il | ko |
dc.contributor.author | Kim, Kyung-Soo | ko |
dc.date.accessioned | 2024-01-08T05:00:17Z | - |
dc.date.available | 2024-01-08T05:00:17Z | - |
dc.date.created | 2024-01-08 | - |
dc.date.created | 2024-01-08 | - |
dc.date.issued | 2024-01 | - |
dc.identifier.citation | IEEE ROBOTICS AND AUTOMATION LETTERS, v.9, no.1, pp.707 - 714 | - |
dc.identifier.issn | 2377-3766 | - |
dc.identifier.uri | http://hdl.handle.net/10203/317492 | - |
dc.description.abstract | This letter proposes a follower-stabilizing strategy for leader-waypoint-follower nonholonomic vehicle formation control. The follower-stabilizing strategy consists of the follower-stabilizing area and the follower's velocity correction term. When the follower crosses the waypoint generated by the leader, its steering is susceptible to oscillation. To overcome this issue, the follower-stabilizing area around the waypoint is proposed such that the follower imitates the leader's heading angle as it enters the follower-stabilizing area. At the same time, the velocity correction term drives the follower to track the waypoint stably. The follower-stabilizing strategy is validated by various simulations, which confirm that the follower-stabilizing area effectively reduces steering oscillation and that the velocity correction term verifies stable waypoint tracking. Additionally, GPS and AHRS-based small-scale vehicles are built to demonstrate the proposed method by experiment. The CTRA model-based Kalman filter is designed for GPS and AHRS to estimate the agents' states, such as the heading angle and linear velocities. | - |
dc.language | English | - |
dc.publisher | IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC | - |
dc.title | The Leader-Follower Formation Control of Nonholonomic Vehicle With Follower- Stabilizing Strategy | - |
dc.type | Article | - |
dc.identifier.wosid | 001117099300008 | - |
dc.identifier.scopusid | 2-s2.0-85168745795 | - |
dc.type.rims | ART | - |
dc.citation.volume | 9 | - |
dc.citation.issue | 1 | - |
dc.citation.beginningpage | 707 | - |
dc.citation.endingpage | 714 | - |
dc.citation.publicationname | IEEE ROBOTICS AND AUTOMATION LETTERS | - |
dc.identifier.doi | 10.1109/lra.2023.3307010 | - |
dc.contributor.localauthor | Kim, Kyung-Soo | - |
dc.contributor.nonIdAuthor | Lee, Minyoung | - |
dc.description.isOpenAccess | N | - |
dc.type.journalArticle | Article | - |
dc.subject.keywordAuthor | Trajectory | - |
dc.subject.keywordAuthor | leader-follower | - |
dc.subject.keywordAuthor | waypoint | - |
dc.subject.keywordAuthor | Kalman filter | - |
dc.subject.keywordAuthor | ROS | - |
dc.subject.keywordAuthor | GPS | - |
dc.subject.keywordAuthor | AHRS | - |
dc.subject.keywordAuthor | IMU | - |
dc.subject.keywordAuthor | Formation control | - |
dc.subject.keywordPlus | ROBOTS | - |
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