Trajectory generation for multiple robots of a car transportation system

Mitsuru Endo, Kenji Hirose, Yusuke Sugahara, Yasuhisa Hirata, Kazuhiro Kosuge, Takashi Kanbayashi, Mitsukazu Oomoto, Koki Suzuki, Kazunori Murakami, Kenichi Nakamura

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

5 Citations (Scopus)

Abstract

We propose a car transportation system referred to as iCART (intelligent Cooperative Autonomous Robot Transporters). In this system, two robots approach the car autonomously, and lift up it for supporting its weight from right/left side respectively. Then, two robots transport the car in coordination. Collision-free trajectories for approaching and transporting the car are generated based on the potential field in the configuration space. In this paper, we describe details of the way to construct a configuration space, to apply a potential to the configuration space, and to generate a trajectory. Additionally, for generating the collision-free trajectory on the environment where two robots exist, repulsive potentials are applied to each robot. Described methods are integrated to iCART and experimental results illustrate the validity of the proposed method.

Original languageEnglish
Title of host publicationDistributed Autonomous Robotic Systems 8
PublisherSpringer Publishing Company
Pages305-314
Number of pages10
ISBN (Print)9783642006432
DOIs
Publication statusPublished - 2009
Event9th International Symposia on Distributed Autonomous Robotic Systems, DARS 2008 - Tsukuba, Japan
Duration: 2008 Nov 172008 Nov 19

Publication series

NameDistributed Autonomous Robotic Systems 8

Other

Other9th International Symposia on Distributed Autonomous Robotic Systems, DARS 2008
CountryJapan
CityTsukuba
Period08/11/1708/11/19

ASJC Scopus subject areas

  • Artificial Intelligence
  • Human-Computer Interaction
  • Control and Systems Engineering

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