Desentralized Motion Control of Multiple Mobile Robots for Transporting an Object without Geometric Relations among Robots

Yasuhisa Hirata, Kazuhiro Kosuge, Hajime Asama, Hayato Kaetsu, Kuniaki Kawabata

研究成果: Article査読

1 被引用数 (Scopus)

抄録

In this paper, we propose a decentralized motion control algorithm of multiple mobile robots for transporting a single object in coordination. In this algorithm, each robot is controlled as if it has a caster-like dynamics and transports a single object in coordination with other robots without using the geometric relations among robots. The proposed control algorithm is experimentally applied to multiple omnidirectional mobile robots. Experimental results illustrate the validity of the proposed control algorithm.

本文言語English
ページ(範囲)204-211
ページ数8
ジャーナルNihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C
69
677
DOI
出版ステータスPublished - 2003

ASJC Scopus subject areas

  • Mechanics of Materials
  • Mechanical Engineering
  • Industrial and Manufacturing Engineering

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