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Section 3: Mobile Robot Positioning

Leader-Follower Navigation

Enable a mobile robot to follow a walking human leader
without GPS and without line-of-sight.
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.

Figure 1: Principle of operation


Figure 2: Actual leader-follower experiment without line-of-sight and without GPS