Platooning method for multiple mobile robots using laser-based SLAM

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.