Transportation of a single object by multiple decentralized-controlled nonholonomic mobile robots

Kazuhiro Kosuge, Manabu Sato

Research output: Contribution to conferencePaperpeer-review

17 Citations (Scopus)

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 languageEnglish
Pages1681-1686
Number of pages6
Publication statusPublished - 1999 Dec 1
Event1999 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 171999 Oct 21

Other

Other1999 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'99): Human and Environment Friendly Robots whith High Intelligence and Emotional Quotients'
CityKyongju, South Korea
Period99/10/1799/10/21

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Computer Vision and Pattern Recognition
  • Computer Science Applications

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