Abstract
In this paper, we propose a decentralized control algorithm for transporting a single object by multiple nonholonomic mobile robots. We extend the leader-follower type control algorithm, which we proposed for the holonomic robots, to the nonholonomic mobile robots by attaching a passive sliding mechanism to each follower. The extended control algorithm is experimentally applied to three tracked mobile robots, and the experimental results illustrate the validity of the extended control algorithm.
Original language | English |
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Pages | 1681-1686 |
Number of pages | 6 |
Publication status | Published - 1999 Dec 1 |
Event | 1999 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'99): Human and Environment Friendly Robots whith High Intelligence and Emotional Quotients' - Kyongju, South Korea Duration: 1999 Oct 17 → 1999 Oct 21 |
Other
Other | 1999 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'99): Human and Environment Friendly Robots whith High Intelligence and Emotional Quotients' |
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City | Kyongju, South Korea |
Period | 99/10/17 → 99/10/21 |
ASJC Scopus subject areas
- Control and Systems Engineering
- Software
- Computer Vision and Pattern Recognition
- Computer Science Applications