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

Kazuhiro Kosuge, Tomohiro Oosumi, Manabu Satou, Kunihiko Chiba, Koji Takeo

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

40 Citations (Scopus)

Abstract

We propose a decentralized control algorithm for transporting a single object by two nonholonomic mobile robots driven by two wheels. We extend the leader-follower type control algorithm, proposed by Kosuge and Oosumi (1996) for holonomic robots, to mobile robots by introducing the dual caster action. The extended control algorithm is applied to two experimental tracked mobile robots, and the experimental results illustrate the validity of the control algorithm.

Original languageEnglish
Title of host publicationProceedings - IEEE International Conference on Robotics and Automation
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages2989-2994
Number of pages6
ISBN (Print)078034300X
DOIs
Publication statusPublished - 1998
Event15th IEEE International Conference on Robotics and Automation, ICRA 1998 - Leuven, Belgium
Duration: 1998 May 16 → 1998 May 20

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
Volume4
ISSN (Print)1050-4729

Other

Other15th IEEE International Conference on Robotics and Automation, ICRA 1998
CountryBelgium
CityLeuven
Period98/5/16 → 98/5/20

ASJC Scopus subject areas

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

Access to Document

Fingerprint Dive into the research topics of 'Transportation of a single object by two decentralized-controlled nonholonomic mobile robots'. Together they form a unique fingerprint.

Cite this