Robotic Follower System Using Bearing-Only Tracking with Directional Antennas

  • Byung-Cheol MinEmail author
  • Eric T. Matson
Part of the Advances in Intelligent Systems and Computing book series (AISC, volume 274)


This paper presents the development of a robotic follower system with the eventual goal of autonomous convoying to create end-to-end communication. The core of the system is a bearing-only tracking with directional antennas and an obstacle avoidance algorithm with sonar sensors. For bearing estimation with directional antennas, we employ a Weighted Centroid Algorithm (WCA), which is a method for active antenna tracking and Direction Of Arrival (DOA) estimation. We also discuss the use of sonar sensors that can detect objects, which could improve our robotic follower system in mobile robot navigation. Through extensive field experiments in different environments, we show feasibilities of our proposed system, allowing a follower robot to track a leader robot effectively in convoying fashion. We expect that our system can be applied in a variety of applications that need autonomous convoying.


Mobile Robot Penalty Function Relay Node Directional Antenna Mobile Robot Navigation 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.


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Copyright information

© Springer International Publishing Switzerland 2014

Authors and Affiliations

  1. 1.Machine-to-Machine (M2M) Lab, Department of Computer and Information TechnologyPurdue UniversityWest LafayetteUSA
  2. 2.Department of Computer EngineeringDongguk UniversitySeoulRepublic of Korea

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