Motion control of multiple autonomous mobile robots handling a large object in coordination

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

Research output: Contribution to journalConference article

48 Citations (Scopus)

Abstract

In this paper, we discuss a problem relating to the force/moment transformation for the handling of a large object by multiple mobile robots in coordination. We propose a control algorithm using geometrical constraints among the grasping points and the representative point of the object, which reduce the effect of noise amplified by force/moment transformation. We extend this algorithm to the decentralized control algorithm of multiple robots handling an object in coordination. The proposed control algorithm is experimentally applied to the mobile robots. Experimental results illustrate the validity of the proposed control algorithm.

Original languageEnglish
Pages (from-to)2666-2673
Number of pages8
JournalProceedings - IEEE International Conference on Robotics and Automation
Volume4
Publication statusPublished - 1999 Jan 1
EventProceedings of the 1999 IEEE International Conference on Robotics and Automation, ICRA99 - Detroit, MI, USA
Duration: 1999 May 101999 May 15

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering

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