KIEE - The Transactions of the Korean Institute of Electrical Engineers

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The Transactions of the Korean Institute of Electrical Engineers

The Transactions of the Korean Institute of Electrical Engineers

ISO Journal TitleTrans. Korean. Inst. Elect. Eng.

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Title	Obstacle Avoidance of Leader-Follower Formation
Authors	오영석(Oh, Young-Suk) ; 박종훈(Park, Jong-Hun) ; 김진환(Kim, Jin-Hwan) ; 허욱열(Huh, Uk-Youl)
DOI	https://doi.org/10.5370/KIEE.2011.60.9.1761
Page	pp.1761-1766
ISSN	1975-8359
Keywords	Mobile robot ; Leader-follower formation control ; Obstacle avoidance
Abstract	This paper presents obstacle avoidance of Leader-Follower formation. The follower robot maintain the formation with leader robot and avoid the detected obstacle. When obstacle is detected, follower robot avoid it considering leader robot and follower robot position and follower robot and obstacle position. In addition, follower robot avoid obstacle irrespective of obstacle size. Controller of follower robot is designed to satisfy Lyapunov stability by backstepping method. Simulation results shows that the designed controller has a stable performance.

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