Motion control of multiple Dr Helpers transporting a single object in cooperation with a human based on map information

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

Research output: Contribution to journalConference article

12 Citations (Scopus)

Abstract

In this paper, we propose a new decentralized motion control algorithm of multiple mobile robots transporting a single object in cooperation with a human based on a path generated form an environment. Each mobile robot is controlled as if it had caster-like dynamics around a representative point attached to the object and its representative point moves along the path based on the intentional force applied by a human. The proposed decentralized control algorithm is experimentally applied to three omni-directional mobile robots referred to as Dr Helper. Experimental results illustrate the validity of the proposed control algorithm.

Original languageEnglish
Pages (from-to)995-1000
Number of pages6
JournalProceedings - IEEE International Conference on Robotics and Automation
Volume1
Publication statusPublished - 2002 Jan 1
Event2002 IEEE International Conference on Robotics and Automation - Washington, DC, United States
Duration: 2002 May 112002 May 15

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Artificial Intelligence
  • Electrical and Electronic Engineering

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