Leader–Follower Approach for Non-Holonomic Mobile Robots Based on Extended Kalman Filter Sensor Data Fusion and Extended On-Board Camera Perception Controlled with Behavior Tree

Leader–Follower Approach for Non-Holonomic Mobile Robots Based on Extended Kalman Filter Sensor Data Fusion and Extended On-Board Camera Perception Controlled with Behavior Tree

This paper presents a leader–follower mobile robot control approach using onboard sensors. The follower robot is equipped with an Intel RealSense camera mounted on a rotating platform. Camera observations and ArUco markers are used to localize the robots to each other and relative to the workspace....

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Bibliographic Details
Main Authors: Arpit Joon, Wojciech Kowalczyk
Format: Article
Language:English
Published: MDPI AG 2023-11-01
Series:Sensors
Subjects:
sensor data fusion
fiducial marker
extended kalman filter
mobile robots
leader–follower control
ROS
Online Access:https://www.mdpi.com/1424-8220/23/21/8886

Internet

https://www.mdpi.com/1424-8220/23/21/8886

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