Desentralized Motion Control of Multiple Mobile Robots for Transporting an Object without Geometric Relations among Robots

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

Research output: Contribution to journalArticlepeer-review

1 Citation (Scopus)

Abstract

In this paper, we propose a decentralized motion control algorithm of multiple mobile robots for transporting a single object in coordination. In this algorithm, each robot is controlled as if it has a caster-like dynamics and transports a single object in coordination with other robots without using the geometric relations among robots. The proposed control algorithm is experimentally applied to multiple omnidirectional mobile robots. Experimental results illustrate the validity of the proposed control algorithm.

Original languageEnglish
Pages (from-to)204-211
Number of pages8
JournalNihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C
Volume69
Issue number677
DOIs
Publication statusPublished - 2003

Keywords

  • Coordinated Motion Control
  • Decentralized Motion Control
  • Motion Control
  • Moving Robot
  • Robot
  • Transportation

ASJC Scopus subject areas

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

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