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Intelligent leader follower behaviour for unmanned ground-based vehicles

Research output: Contribution to Journal/Magazine › Journal article › peer-review

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Intelligent leader follower behaviour for unmanned ground-based vehicles. / Sadeghi Tehran, Pouria; Andreu, Javier; Angelov, Plamen et al.
In: Journal of Automation, Mobile Robotics and Intelligent Systems, Vol. 5, No. 1, 2011, p. 36-47.

Research output: Contribution to Journal/Magazine › Journal article › peer-review

Harvard

Sadeghi Tehran, P, Andreu, J, Angelov, P & Zhou, X 2011, 'Intelligent leader follower behaviour for unmanned ground-based vehicles', Journal of Automation, Mobile Robotics and Intelligent Systems, vol. 5, no. 1, pp. 36-47. <http://www.jamris.org/authors.php>

APA

Sadeghi Tehran, P., Andreu, J., Angelov, P., & Zhou, X. (2011). Intelligent leader follower behaviour for unmanned ground-based vehicles. Journal of Automation, Mobile Robotics and Intelligent Systems, 5(1), 36-47. http://www.jamris.org/authors.php

Vancouver

Sadeghi Tehran P, Andreu J, Angelov P, Zhou X. Intelligent leader follower behaviour for unmanned ground-based vehicles. Journal of Automation, Mobile Robotics and Intelligent Systems. 2011;5(1):36-47.

Author

Sadeghi Tehran, Pouria ; Andreu, Javier ; Angelov, Plamen et al. / Intelligent leader follower behaviour for unmanned ground-based vehicles. In: Journal of Automation, Mobile Robotics and Intelligent Systems. 2011 ; Vol. 5, No. 1. pp. 36-47.

Bibtex

@article{7bd8cc96118144f0a5f2e761fbda10f3,
title = "Intelligent leader follower behaviour for unmanned ground-based vehicles",
abstract = "In this paper an autonomous leader-follower is presented and tested in an unknown and unpredictable environment. Three different types of controller named as First principles-based proportional (P) controller, Fuzzy Logic Controller, and Model-based Predictive Controller are developed and tested in real-time to provide a smooth following behaviour. The follower used the leader's status sent by a smart phone to differentiate between obstacles and the leader and then using two types of sensor, laser and sonar, during the obstacle avoidance procedure. In order to identify the leader again out of many obstacles around, two alternative techniques are proposed using superposition of the scans collected by the laser and predicting the leader's trajectory using evolving Takagi- Sugeno (eTS). At the end, experiments are presented with a real-time mobile robot at Lancaster University.",
keywords = "robotics, intelligent systems, UGV",
author = "{Sadeghi Tehran}, Pouria and Javier Andreu and Plamen Angelov and Xiaowei Zhou",
year = "2011",
language = "English",
volume = "5",
pages = "36--47",
journal = "Journal of Automation, Mobile Robotics and Intelligent Systems",
issn = "1897-8649",
publisher = "Industrial Research Institute for Automation and Measurements",
number = "1",

}

RIS

TY - JOUR

T1 - Intelligent leader follower behaviour for unmanned ground-based vehicles

AU - Sadeghi Tehran, Pouria

AU - Andreu, Javier

AU - Angelov, Plamen

AU - Zhou, Xiaowei

PY - 2011

Y1 - 2011

N2 - In this paper an autonomous leader-follower is presented and tested in an unknown and unpredictable environment. Three different types of controller named as First principles-based proportional (P) controller, Fuzzy Logic Controller, and Model-based Predictive Controller are developed and tested in real-time to provide a smooth following behaviour. The follower used the leader's status sent by a smart phone to differentiate between obstacles and the leader and then using two types of sensor, laser and sonar, during the obstacle avoidance procedure. In order to identify the leader again out of many obstacles around, two alternative techniques are proposed using superposition of the scans collected by the laser and predicting the leader's trajectory using evolving Takagi- Sugeno (eTS). At the end, experiments are presented with a real-time mobile robot at Lancaster University.

AB - In this paper an autonomous leader-follower is presented and tested in an unknown and unpredictable environment. Three different types of controller named as First principles-based proportional (P) controller, Fuzzy Logic Controller, and Model-based Predictive Controller are developed and tested in real-time to provide a smooth following behaviour. The follower used the leader's status sent by a smart phone to differentiate between obstacles and the leader and then using two types of sensor, laser and sonar, during the obstacle avoidance procedure. In order to identify the leader again out of many obstacles around, two alternative techniques are proposed using superposition of the scans collected by the laser and predicting the leader's trajectory using evolving Takagi- Sugeno (eTS). At the end, experiments are presented with a real-time mobile robot at Lancaster University.

KW - robotics

KW - intelligent systems

KW - UGV

M3 - Journal article

VL - 5

SP - 36

EP - 47

JO - Journal of Automation, Mobile Robotics and Intelligent Systems

JF - Journal of Automation, Mobile Robotics and Intelligent Systems

SN - 1897-8649

IS - 1

ER -