Platooning method for multiple mobile robots using laser-based SLAM

Abstract

This paper presents a leader-follower platooning method for multiple mobile robots using laser-based simultaneous localization and mapping (SLAM). The leader broadcasts laser scan images and odometry information. The follower builds an occupancy grid map based on the leader's information and estimates leader's tracks using a correlation-based map matching method. Based on the leader's tracks, the follower generates its own target path using a smoothed cubic spline function. The follower is controlled so that it can move along the target path while maintaining a constant gap between itself and the leader. The experimental result of a three-robot platooning in an indoor environment validates the proposed method.