TY - JOUR
T1 - A car transportation system using multiple coordinated robots
T2 - ICART (3rd report, trajectory generation for robots)
AU - Endo, Mitsuru
AU - Hirose, Kenji
AU - Kosuge, Kazuhiro
AU - Suzuki, Koki
AU - Murakami, Kazunori
AU - Nakamura, Kenichi
AU - Nakanishi, Masaki
AU - Kanbayashi, Takashi
N1 - Copyright:
Copyright 2018 Elsevier B.V., All rights reserved.
PY - 2010/3
Y1 - 2010/3
N2 - We propose a car transportation system termed 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.
AB - We propose a car transportation system termed 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.
KW - Car transportation system
KW - Multiple robot coordination
KW - Trajectory generation
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U2 - 10.1299/kikaic.76.627
DO - 10.1299/kikaic.76.627
M3 - Article
AN - SCOPUS:77953655000
VL - 76
SP - 627
EP - 634
JO - Nihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C
JF - Nihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C
SN - 0387-5024
IS - 763
ER -