Abstract
A virtual target tracking approach is proposed for kinematic control of mobile robot. In the controller, linear and angular velocity inputs are generated by using the local data of robot position and orientation along with the estimated velocity of target object. Applying the proposed approach to a cooperative robot group with arbitrary number of multiple mobile robots, it is possible to create various robot formations for cooperative navigation and tracking of moving object. The developed controller is shown to be stable and convergent through theoretical proof and a series of experiments.
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Recommended by Associate Editor Sung-Kwun Oh under the direction of Editor Hyouk Ryeol Choi.
This work was supported by the industrial Foundation Technology Development Program of MKE/KEIT[Development of Collective Intelligence Robot Technologies].
Young-Ho Lee received his B.S. degree in Electronic Engineering from Donga University, Korea in 2006 and his M.S. degree from Sungkyunkwan University, Korea in 2008. He has been with the School of Electrical and Electronics Engineering at Sungkyunkwan University, Suwon, Korea, where he is currently a Ph.D. candidate. From 2010, he also has been working as a PLC based process automation and SI engineer at HANSUECO Co. His research interests include mobile robotics, digital H/W design, and system integration.
Shin-Guk Kim received his B.S. degree in Mechatronics Engineering from Dongeui University, Korea in 2008 and his M.S. degree from Sungkyunkwan University, Korea in 2012. From May 2007 to February 2010 he worked as S/W development Engineer at Ajinextek Ltd. Since April 2012, he has been with Interaction and Robotics Research Center at Korea Institute of Science and Technology, Seoul, Korea, where he is currently a Research Engineer. His research interests include mobile robotics, embedded system, and robot S/W.
Tae-Yong Kuc received his B.S. degree in Control and Instrumentation Engineering from Seoul National University, Korea in 1988, and his M.S. and Ph.D. degrees from Pohang University of Science and Technology, Korea in 1990 and 1993, respectively. From April to August 1993, he worked as Chief Research Engineer at Precision Machinery Institute of Samsung Aerospace Company and from September 1993 to February 1995 as Senior Lecturer in the Department of Electrical Engineering, Mokpo National University, Korea. Since March 1995, he has been with the School of Electrical and Electronics Engineering at Sungkyunkwan University, Suwon, Korea, where he is currently a Professor. His research interests include intelligent robotics, adaptive and learning control, and visual sensor processing for computer-aided control systems.
Jong-Koo Park received his B.S., M.S. and Ph.D. degrees from Seoul National University, Seoul, Korea, in 1987, 1989 and 1993, respectively, all in Control and Instrumentation Engineering. He was the recipient of Outstanding Young Researcher Award in 1997 from The Institute of Control, Robotics and Systems, Korea. From 2002, he is the chief of Game Technology Center (GTC), which was established in 2001 under the auspices of The Ministry of Trade, Industry & Energy of Korea. Since March 1995, he has been with the School of Electronic and Electrical Engineering at Sungkyunkwan University, Suwon, Korea, where he is currently a Professor. His research interests include robust and nonlinear control, estimation and filtering theories, and control applications.
Sang-Hoon Ji received his B.S. and M.S. degrees in Control and Instrumentation Engineering and his Ph.D. degree in Electrical Engineering and Computer Sciences from Seoul National University, Seoul, Korea in 1995, 1997, and 2007, respectively. From 1997 to 2002, he was a Research Engineer at IAE, Yongin, Korea and from August 2007 to September 2008 he worked as Deputy General Manager at Doosan Infracore Ltd., Yongin, Korea. Since October 2008, he has worked with Field Robot R&D Group at Korea Institute of Industrial Technology, Ansan, Korea, where he is currently a Principal Researcher. His research interests include multi-agent robot systems, sensor based robotics, robot S/W platform, and medical robots.
Yong-Seon Moon received his Ph.D. degree in Electronic Engineering from Chosun University. He is currently a professor at Sunchon Nat’l Univ., South Korea. His research interests include the networked, safety and Security Robotics.
Young-Jo Cho received his B.S. degree in Control Engineering from Seoul National University in 1983, and his M.S. and Ph.D. degrees in Electrical Engineering from KAIST in 1985 and 1989, respectively. He joined ETRI in 2004 as a Vice President heading the Intelligent Robot Research Division. Before joining ETRI, he was a principal researcher in Korea Institute of Science and Technology (KIST) and the Director of the R&D Center in iControls, Inc. He is now a principal member of engineering staff in ETRI and his primary research interest is in network-based intelligent robots.
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Lee, YH., Kim, SG., Kuc, TY. et al. Virtual target tracking of mobile robot and its application to formation control. Int. J. Control Autom. Syst. 12, 390–398 (2014). https://doi.org/10.1007/s12555-012-0461-y
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DOI: https://doi.org/10.1007/s12555-012-0461-y