Leader-follower type motion control algorithm of multiple mobile robots with dual manipulators for handling a single object in coordination

Yasuhisa Hirata, Takuro Sawada, Zhi Dong Wang, Kazuhiro Kosuge

Research output: Chapter in Book/Report/Conference proceedingConference contribution

15 Citations (Scopus)

Abstract

In this paper, we propose a leader-follower type motion control algorithm of multiple mobile robots with dual manipulators handling a single object in coordination. In this algorithm, the representative point of each robot is controlled as if it has a caster-like dynamics in 3-D space, and each robot handles a single object in coordination with other robots without using the geometric relations among the robots based on the leader-follower type motion control algorithm. The proposed control algorithm is experimentally applied to two mobile robots with dual manipulators, and the validity of the proposed control algorithm is illustrated by the experimental results.

Original languageEnglish
Title of host publicationProceedings - 2004 International Conference on Intelligent Mechatronics and Automation
Pages362-367
Number of pages6
Publication statusPublished - 2004 Dec 1
EventProceedings - 2004 International Conference on Intelligent Mechatronics and Automation - Chengdu, China
Duration: 2004 Aug 262004 Aug 31

Publication series

NameProceedings - 2004 International Conference on Intelligent Mechatronics and Automation

Other

OtherProceedings - 2004 International Conference on Intelligent Mechatronics and Automation
CountryChina
CityChengdu
Period04/8/2604/8/31

ASJC Scopus subject areas

  • Engineering(all)

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