Experimental study of decentralized PVFC for cooperative mobile robots

Author

Yamakita, M. ; Hashiba, K. ; Zheng, X.-Z. ; Ito, K.

Author_Institution

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

Volume

5

fYear

1999

fDate

1999

Firstpage

45

Abstract

Traditionally, tasks for a robotic system are specified by a desired timed trajectory. There, however, are many tasks in which the desired motions are specified by the state of system rather than time, such as contour following tasks. For such tasks, passive velocity field control (PVFC) has been proposed and the geometry of the controlled systems was analyzed. In this paper, a method to apply a decentralized PVFC to a cooperative multiple mobile robotic system whose sub-system is under nonholonomic constraints, which conveys a common rigid object in a horizontal plain, is proposed, and the effectiveness of the control method is demonstrated by experiments

Keywords

cooperative systems; decentralised control; mobile robots; motion control; multi-robot systems; robot dynamics; velocity control; cooperative systems; decentralized control; dynamics; mobile robots; multiple robot system; nonholonomic constraints; passive velocity field control; Computational geometry; Control system analysis; Control systems; Force control; Mechanical systems; Mobile robots; Motion control; Robot kinematics; Systems engineering and theory; Velocity control;

fLanguage

English

Publisher

ieee

Conference_Titel

Systems, Man, and Cybernetics, 1999. IEEE SMC '99 Conference Proceedings. 1999 IEEE International Conference on

Conference_Location

Tokyo

ISSN

1062-922X

Print_ISBN

0-7803-5731-0

Type

conf

DOI

10.1109/ICSMC.1999.815518

Filename

815518