Implementation of a Leader-Follower Controller for a Skid-Steering Wheel-Legged Robot


  1. Phung, L.
  2. Beckman, B
  3. Sharf, I.
Corporate Authors
Defence Research and Development Canada, Suffield Research Centre, Ralston AB (CAN);McGill Univ, Montreal QUE (CAN) Dept of Mechanical Engineering
In this paper, we present a leader-follower controller for the Micro-Hydraulic Toolkit (MHT), a skidsteering wheel-legged robot designed by Defence Research and Development Canada – Suffield Research Centre. The objective of the controller is to maneuver the MHT towards a desired position with respect to a designated leader. Using the range and bearing of the leader from the robot, the leader-follower controller computes the desired wheel velocities of the MHT to achieve leader-follower formation control. In addition to performing wheeled locomotion to follow the leader, the MHT is capable of using its legs to reconfigure its posture. Thus, moving beyond standard implementations, the leader-follower control strategy presented in this paper is combined with a velocitybased inverse kinematics controller developed in previous work to control the posture of the MHT during leader-follower maneuvers. The results of the leader-follower scenarios implemented in simulation and on the physical MHT demonstrate the robot’s ability to execute leader-follower formation control and posture control simultaneously, adding to the versatility of the vehicle to negotiate uneven terrains.
UGV;unmanned ground vehicle;control;robotics;autonomous systems;leader-follower controller;skid-steering robot;wheel-legged robot;posture control;vision system
Report Number
DRDC-RDDC-2016-P018 — External Literature
Date of publication
17 Feb 2016
Number of Pages
Electronic Document(PDF)

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