In this paper, we propose a decentralized motion control algorithm of multiple mobile robots transporting a single object in cooperation with a human based on a path generated from an environment. Each mobile robot is controlled as if it has a wheel with a free rotational joint and moves along the path based on the intentional force applied by a human. The proposed decentralized control algorithm is experimentally applied to the omni-directional mobile robots referred to as DR Helpers. Experimental results illustrate the validity of the proposed control algorithm.
|Number of pages||6|
|Journal||Proceedings - IEEE International Conference on Robotics and Automation|
|Publication status||Published - 2001 Jan 1|
ASJC Scopus subject areas
- Control and Systems Engineering
- Artificial Intelligence
- Electrical and Electronic Engineering