Mobile robots coordination and its application to iCART (Intelligent cooperative autonomous robot transporters)

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

Abstract

In this presentation, we first introduce a coordinated motion control of multiple robots based on compliant motion control of each robot, assuming that motion of each robot could not be controlled precisely even with control of internal force applied to the robots. Then, a leader-follower concept is introduced for dealing with motion inconsistencies among robots. When we consider coordination of mobile robots, the slippage between a mobile base and the ground is inevitable and its odometry could not be used for the coordination of the multiple robots especially having physical interactions. A new coordinated motion control scheme is introduced to overcome the problem inspired by a “caster” mechanism. The control system is applied to iCART (Intelligent Cooperative Autonomous Robot Transporters), which is a new robot system handling a vehicle instead of a driver. Coordination of multiple mobile robots for handling a vehicle is a challenging task for multiple mobile robots. Through the development of iCART, we will discuss issues relating to robotics as systems integration.

Original languageEnglish
Title of host publicationMobile Service Robotics
Subtitle of host publicationProceedings of the 17th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines
EditorsKrzysztof Kozlowski, Mohammad O Tokhi, Gurvinder S Virk, Gurvinder S Virk, Gurvinder S Virk
PublisherWorld Scientific Publishing Co. Pte Ltd
Number of pages1
ISBN (Print)9789814623346
DOIs
Publication statusPublished - 2014 Jan 1
Event17th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2014 - Poznan, Poland
Duration: 2014 Jul 212014 Jul 23

Publication series

NameMobile Service Robotics: Proceedings of the 17th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines

Other

Other17th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2014
CountryPoland
CityPoznan
Period14/7/2114/7/23

ASJC Scopus subject areas

  • Human-Computer Interaction
  • Artificial Intelligence

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