Title :
Transportation of a single object by multiple decentralized-controlled nonholonomic mobile robots
Author :
Kosuge, Kazuhiro ; Sato, Manabu
Author_Institution :
Dept. of Machine Intelligence & Syst. Eng., Tohoku Univ., Sendai, Japan
Abstract :
We propose a decentralized control algorithm for transporting a single object by multiple nonholonomic mobile robots. We extend the leader-follower type control algorithm, proposed by Kosuge and Oosumi (1996) for holonomic robots, to nonholonomic mobile robots by attaching a passive sliding mechanism to each follower. The extended control algorithm is experimentally applied to three tracked mobile robots, and the experimental results illustrate the validity of the extended control algorithm
Keywords :
decentralised control; mobile robots; motion control; multi-robot systems; leader-follower type control algorithm; nonholonomic mobile robots; object transportation; passive sliding mechanism; Algorithm design and analysis; Control systems; Distributed control; Machine intelligence; Mobile robots; Motion control; Motion estimation; Robot control; Robot kinematics; Transportation;
Conference_Titel :
Intelligent Robots and Systems, 1999. IROS '99. Proceedings. 1999 IEEE/RSJ International Conference on
Conference_Location :
Kyongju
Print_ISBN :
0-7803-5184-3
DOI :
10.1109/IROS.1999.811720
