Design of one degree of freedom rotating platform applied in leader-follower autonomous robot control

Abstract

This paper describes the design of one degree of freedom rotating platform for an Intel RealSense sensor and a leader-follower control algorithm. The rotating platform will be placed on the follower robot to track the ArUco markers on the leader robot. Four ArUco markers will be placed on the leader robot in different directions. The proportional-integral-derivative controller (PID controller) helps the rotating platform track the ArUco marker independently from the motion of the follower robot itself. The pose of the leader robot will be calculated by the follower robot from the ArUco marker detection. This paper involves the simulation of the experiment in gazebo software in the Robot Operating System (ROS).