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Article
Leader Follower Tracking with Obstacle Avoidance using Circular Paths Algorithm

Author: Abdulmuttalib T. Rashid عبدالمطلب تركي رشيد
Journal: Basrah Journal for Engineering Science مجلة البصرة للعلوم الهندسية ISSN: Print: 18146120; Online: 23118385 Year: 2016 Volume: 16 Issue: 2 Pages: 29-47
Publisher: Basrah University جامعة البصرة

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Abstract

This paper deals with a new algorithm called circularpaths for leader follower tracking with obstacle avoidanceusing. In leader-follower tracking, one robot acts as a leaderwith defined motion and the other robot acts as a follower whichposition itself in accordance with the position and orientation ofthe leader. The leader movement is dependent on an assignedtrajectory and the follower movement is dependent on thecircular paths algorithm. In each step, this algorithm constructsa circular path using three points represented by the next stepposition of the leader robot, the last step position and thecurrent step position of the follower robot. The next position ofthe follower robot lays on the circumstance of the circular pathand the orientation is represented by the tangent line to thiscircular path at this next position of the follower robot. Whenan obstacle intersect any circular path for the follower robot,then this path must be replaced by another circular pathconstruct from the two positions of the follower robot and theleader position is replaced by the tangent point to the obstacle.Simulation results illustrate the soundness of this algorithm


Article
Hybrid approach for multi-node localization and Identification

Authors: Ola A. Hasan علا احمد حسن --- Abdulmuttalib T. Rashid عبدالمطلب تركي رشيد --- Ramzy S. Ali رمزي سالم علي
Journal: Basrah Journal for Engineering Science مجلة البصرة للعلوم الهندسية ISSN: Print: 18146120; Online: 23118385 Year: 2016 Volume: 16 Issue: 2 Pages: 11-20
Publisher: Basrah University جامعة البصرة

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Abstract

In this paper, a new approach for the positioning(localization) of multi-node systems is presented. Each nodeincluding the beacon node contains two types of sensors: onefor the distance sensing and the other type is forcommunication. The main idea of our proposed approach is touse the control of beacon to construct anodes' tree which isgoing to be used later by the nodes to know the paths in whichthe information will flow. During the tree construction, theidentities of nodes will be known. Every node except thebeacon will use the information obtained from its previousneighbor in the tree to find its own location and orientation.Several simulations using visual basic 2012 are implemented todiscern the performance of this algorithm.

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