Title :
Control of a leader-follower mobile robotic swarm based on the NXT educational LEGO platform
Author :
Zermas, Demetris
Author_Institution :
Dept. of Electr. & Comput. Eng., Univ. of Patras, Rio, Greece
Abstract :
This article presents the design and implementation of a control scheme for a leader-follower mobile robotic swarm, based on the NXT educational Lego platform. The utilized control scheme is applied in all the members of the swarm and is based on an error dynamics controller, which is responsible for controlling the trajectory of each robot. The utilized robots are non-holonomic vehicles that have been constructed based on the Lego Mindstorm NXT educational kits, while the robots are controlled remotely from a base station through wireless data links over multiple bluetooth channels. Experimental results which prove the efficiency of the proposed scheme are presented.
Keywords :
Bluetooth; mobile robots; multi-robot systems; telerobotics; NXT educational LEGO platform; bluetooth channels; error dynamics controller; leader-follower mobile robotic swarm; nonholonomic vehicles; remote control; Equations; Lead; Mathematical model; Mobile robots; Robot kinematics; Trajectory;
Conference_Titel :
Industrial Electronics (ISIE), 2011 IEEE International Symposium on
Conference_Location :
Gdansk
Print_ISBN :
978-1-4244-9310-4
Electronic_ISBN :
Pending
DOI :
10.1109/ISIE.2011.5984361