Decentralized control of mobile robots in coordination

Author

Hirata, Yasuhisa ; Kosuge, Kazuhiro ; Asama, Hajime ; Kaetsu, Hayato ; Kawabata, Kuniaki

Author_Institution

Dept. of Machine Intelligence & Syst. Eng., Tohoku Univ., Sendai, Japan

Volume

2

fYear

1999

fDate

1999

Firstpage

1129

Abstract

We proposed a decentralized control algorithm of multiple robots handling a single object in coordination. The motion command of the object is given to one of the robots, referred to as a leader, and the rest referred to as followers estimate the motion of the leader by themselves through the motion of the object and handle the object based on the estimated reference. In this paper, the proposed control algorithm is experimentally applied to three omnidirectional mobile robots with three degrees of freedom of motion, and the results illustrate the validity of the proposed control algorithm

Keywords

cooperative systems; decentralised control; mobile robots; motion control; multi-robot systems; stability; cooperative systems; coordination control; decentralized control; mobile robots; motion control; multiple robot system; omnidirectional robots; stability; Algorithm design and analysis; Centralized control; Distributed control; Machine intelligence; Mobile robots; Motion control; Motion estimation; Robot control; Robot kinematics; Transportation;

fLanguage

English

Publisher

ieee

Conference_Titel

Control Applications, 1999. Proceedings of the 1999 IEEE International Conference on

Conference_Location

Kohala Coast, HI

Print_ISBN

0-7803-5446-X

Type

conf

DOI

10.1109/CCA.1999.801131

Filename

801131