TY - GEN
T1 - Transportation of a single object by two decentralized-controlled nonholonomic mobile robots
AU - Kosuge, Kazuhiro
AU - Oosumi, Tomohiro
AU - Satou, Manabu
AU - Chiba, Kunihiko
AU - Takeo, Koji
PY - 1998
Y1 - 1998
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=0031620570&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=0031620570&partnerID=8YFLogxK
U2 - 10.1109/ROBOT.1998.680884
DO - 10.1109/ROBOT.1998.680884
M3 - Conference contribution
AN - SCOPUS:0031620570
SN - 078034300X
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 2989
EP - 2994
BT - Proceedings - IEEE International Conference on Robotics and Automation
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 15th IEEE International Conference on Robotics and Automation, ICRA 1998
Y2 - 16 May 1998 through 20 May 1998
ER -