Teleoperation system for two tracked mobile robots transporting a single object in coordination based on function allocation concept

Hiroki Takeda, Zhi Dong Wang, Kazuhiro Kosuge

Research output: Chapter in Book/Report/Conference proceedingChapter

Abstract

In this paper, we propose a collision avoidance algorithm for two nonholonomic tracked mobile robots transporting a single object based on a function-allocation concept. In this algorithm, a leader robot is controlled manually. A follower robot estimates the desired trajectory of the leader along its own heading direction and generates the motion for transporting the object and for avoiding obstacles by using an omni-directional vision sensor. We experimentally implement the proposed algorithm in a tracked mobile robots system, and illustrate the validity of the proposed control algorithm.

Original languageEnglish
Title of host publicationRobotics
Subtitle of host publicationRecent Advances in Research and Applications
EditorsShinichi Yuta, Hajima Asama, Erwin Prassler, Takashi Tsubouchi, Sebastian
Pages333-342
Number of pages10
DOIs
Publication statusPublished - 2006

Publication series

NameSpringer Tracts in Advanced Robotics
Volume24
ISSN (Print)1610-7438
ISSN (Electronic)1610-742X

ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Artificial Intelligence

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