Adaptive generation of desired velocity field for cooperative mobile robots with decentralized PVFC

Author

Yamakita, M. ; Suh, J.H.

Author_Institution

Dept. of Control & Syst. Eng., Tokyo Inst. of Technol., Japan

Volume

3

fYear

2000

fDate

2000

Firstpage

1841

Abstract

We have proposed a decentralized control method based on passive velocity field control (PVFC) in previous works (1997, 1998). However, the feedback was localized and the desired velocity field was given by a central controller. The geometry cooperative multiple mobile robot system whose subsystem is under nonholonomic constraints and which conveys a common rigid object in a horizontal plain was proposed. In this paper, we propose a method to generate the desired velocity field for cooperative mobile robots with decentralized PVFC. The proposed control method for cooperative mobile robots is constructed by extending the PVFC and ensures the stability and boundedness using projection algorithm. Finally, the efficiency of the proposed method is examined by computer simulations for cooperative tasks with two manipulators

Keywords

closed loop systems; cooperative systems; decentralised control; mobile robots; motion control; multi-robot systems; robot dynamics; adaptive generation; common rigid object; cooperative mobile robots; cooperative tasks; decentralised passive velocity field control; geometry cooperative multiple mobile robot system; horizontal plain; nonholonomic constraints; Centralized control; Computational geometry; Computer simulation; Distributed control; Feedback; Manipulators; Mobile robots; Projection algorithms; Stability; Velocity control;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Robots and Systems, 2000. (IROS 2000). Proceedings. 2000 IEEE/RSJ International Conference on

Conference_Location

Takamatsu

Print_ISBN

0-7803-6348-5

Type

conf

DOI

10.1109/IROS.2000.895239

Filename

895239