Consensus Protocol to Implement Target Tracking

Abstract Consensus protocol is suggested for target following of two non-holonomic robots. For moving robot platform, the computer that acts as the controller, and the robots to establish wireless local area network (WLAN), the remote control of the robot is achieved by transmitting data through cordless communication. Kinematics mathematical modelling and pose error model of the moving automaton are raised, applying consensus protocol to implement trajectory tracking. Emulation effects demonstrate that the suggested control way is feasible.