SOFTWARE AND HARDWARE IMPLEMENTATION OF LEADER FOLLOWING ON THE BASE OF ROBOTIC KAMAZ TRUCK

F.N. Glazyrin
PhD in Physics and Mathematics, «VIST Mining Technology», LLC, Systems Analyst, 3V-555-1, Bolshoy Bulvar, Innovation Center «Skolkovo», Moscow, 143026, Russia, tel.: +7(926)799-00-30, e-mail: This email address is being protected from spambots. You need JavaScript enabled to view it.

D.S. Kolesnikov
«KAMAZ Innovation center», LLC, Head of Autonomous Driving Department, 5, Nobelya ul., Innovation Center «Skolkovo», Moscow, 143026, Russia, tel.: +7(855)245-29-81, This email address is being protected from spambots. You need JavaScript enabled to view it.

N.V. Odintsev
PhD in Physics and Mathematics, «VIST Mining Technology», LLC, Chief Technical Officer, 3V-555-1, Bolshoy Bulvar, Innovation Center «Skolkovo», Moscow, 143026, Russia, tel.: +7(926)799-00-30, e-mail: This email address is being protected from spambots. You need JavaScript enabled to view it.

A.A. Potapov
«VIST Mining Technology», LLC, Programmer, 3V-555-1, Bolshoy Bulvar, Innovation Center «Skolkovo», Moscow, 143026, Russia, e-mail: This email address is being protected from spambots. You need JavaScript enabled to view it.

Abstract
The paper describes development and field testing of leader following software and hardware system for unmanned ground vehicles. The governing algorithm is described, including detection of the leader vehicle by analysis of 2D scanning laser rangefinder (lidar) data, real-time tracking of leader and guiding the unmanned vehicle along the determined trajectory. Tests of functionality performance were carried out at on open-air testing ground using prototype un-manned cargo truck by KAMAZ. The described functionality exhibits robust and effective performance in environments similar to potential real-life applications.

Key words
Wheeled robot, cargo robot, object following, 2D lidar.

Bibliographic description 
Glazyrin, F., Kolesnikov, D., Odintsev, N. and Potapov, A. (2017). Software and hardware implementation of leader following on the base of robotic KAMAZ truck. Robotics and Technical Cybernetics, 3(16), pp.3-10.

UDC identifier
62-529:007.52

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