A distributed ladder transportation algorithm for two robots in a corridor

We consider the problem of transporting a long object, such as a ladder, through a 90 degree corner in a corridor using two omnidirectional robots that do not necessarily have identical characteristics. A distributed algorithm is presented in which each robot computes its own motion based on the current and goal positions of the ladder, the locations of the walls, and the motion of the other robot observed indirectly through the link between the robot and the ladder. We evaluate the performance and robustness of the algorithm using extensive computer simulation by changing several parameter values that affect the key characteristics of the robots, including the maximum speed, the guide path through a corner, and the sensitivity and reaction to the motion of the other robot. The simulation results indicate that if the parameter values are chosen within certain reasonable ranges, then overall the algorithm works quite well even for robots having difficult characteristics. It is also shown that the robustness of the algorithm critically depends on the differences between the robots in the values of two parameters.