Section 3: Mobile Robot Positioning
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Leader-Follower Navigation |
| • | Purpose: Enable a mobile robot to follow a walking human leader without GPS and without line-of-sight. |
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Principle of
operation:
–Leader
wears our Personal Dead-reckoning (PDR)
system.
–Follower has
dead-reckoning capability (typically: IMU & Odometry).
–The two dead-reckoning systems communicate via RF modems. –Our Leader-Follower method synchronized both dead-reckoning systems. |
| • |
Expected Performance:
–Follower tracks leader
for unlimited duration in any environment.
–Follower may lag behind
leader by 2-60 seconds. No line-of-sight needed.
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 Figure 1: Principle of operation
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 Figure 2: Actual leader-follower experiment without line-of-sight and without GPS |
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