Title :
Coordinated transportation of a single object by multiple mobile robots without position information of each robot
Author :
Hirata, Yasuhisa ; Kosuge, Kazuhiro ; Asama, Hajime ; Kaetsu, Hayato ; Kawabata, Kuniaki
Author_Institution :
Dept. of Machine Intelligence & Syst Eng., Tohoku Univ., Sendai, Japan
Abstract :
We propose a decentralized control algorithm of multiple mobile robots transporting a single object in coordination. In this algorithm, each robot is controlled as if it has a caster-like mechanism and transportation of a single object by multiple mobile robots is realized without using the geometric relations among robots. The proposed control algorithm is experimentally applied to two mobile robots. Experimental results illustrate the validity of the proposed control algorithm
Keywords :
cooperative systems; decentralised control; mobile robots; motion control; multi-robot systems; transportation; caster-like motion; coordinated transportation; decentralized control; motion control; multiple mobile robots; Algorithm design and analysis; Dead reckoning; Intelligent robots; Machine intelligence; Mobile robots; Motion control; Robot control; Robot kinematics; Transportation; Wheels;
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
DOI :
10.1109/IROS.2000.895268
