DocumentCode
2019481
Title
Transportation of a single object by two decentralized-controlled nonholonomic mobile robots
Author
Kosuge, Kazuhiro ; Oosumi, Tomohiro ; Satou, Manabu ; Chiba, Kunihiko ; Takeo, Koji
Author_Institution
Dept. of Machine Intelligence & Syst. Eng., Tohoku Univ., Sendai, Japan
Volume
4
fYear
1998
fDate
16-20 May 1998
Firstpage
2989
Abstract
We propose a decentralized control algorithm for transporting a single object by two nonholonomic mobile robots driven by two wheels. We extend the leader-follower type control algorithm, proposed by Kosuge and Oosumi (1996) for holonomic robots, to mobile robots by introducing the dual caster action. The extended control algorithm is applied to two experimental tracked mobile robots, and the experimental results illustrate the validity of the control algorithm
Keywords
compliance control; control system synthesis; decentralised control; mobile robots; motion control; robot dynamics; decentralized-controlled nonholonomic mobile robots; dual caster action; leader-follower type control algorithm; tracked mobile robots; Centralized control; Communication system control; Control systems; Distributed control; Manipulators; Mobile robots; Robot control; Robot kinematics; Transportation; Wheels;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 1998. Proceedings. 1998 IEEE International Conference on
Conference_Location
Leuven
ISSN
1050-4729
Print_ISBN
0-7803-4300-X
Type
conf
DOI
10.1109/ROBOT.1998.680884
Filename
680884
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