Coordinated Control and Experiments of Pushing an Object by Using Two Unmanned Vehicles

In this paper, the development of a two-vehicle coordinated control system to push an object is presented. Starting from the mechanical design, two unmanned vehicles (mobile robots) were built up, each consisting of a platform moving with four wheels. Carrier phase differential GPS algorithm is used to determine the positions of the vehicles up to centimeter accuracy. A fuzzy controller is designed on the vehicle to perform the tracking of a desired trajectory. Another fuzzy controller is installed in the control station to fulfil the coordination process. Experimental results show that the proposed methodology is feasible and effective. The object can be pushed along a pre-specified trajectory smoothly