A car transportation system using multiple coordinated robots: ICART (3rd report, trajectory generation for robots)

Mitsuru Endo, Kenji Hirose, Kazuhiro Kosuge, Koki Suzuki, Kazunori Murakami, Kenichi Nakamura, Masaki Nakanishi, Takashi Kanbayashi

Research output: Contribution to journalArticlepeer-review

Abstract

We propose a car transportation system termed as iCART (intelligent Cooperative Autonomous Robot Transporters). In this system, two robots approach the car autonomously, and lift up it for supporting its weight from right/left side respectively. Then, two robots transport the car in coordination. Collision-free trajectories for approaching and transporting the car are generated based on the potential field in the configuration space. In this paper, we describe details of the way to construct a configuration space, to apply a potential to the configuration space, and to generate a trajectory. Additionally, for generating the collision-free trajectory on the environment where two robots exist, repulsive potentials are applied to each robot. Described methods are integrated to iCART and experimental results illustrate the validity of the proposed method.

Original languageEnglish
Pages (from-to)627-634
Number of pages8
JournalNihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C
Volume76
Issue number763
DOIs
Publication statusPublished - 2010 Mar

Keywords

  • Car transportation system
  • Multiple robot coordination
  • Trajectory generation

ASJC Scopus subject areas

  • Mechanics of Materials
  • Mechanical Engineering
  • Industrial and Manufacturing Engineering

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