Teleoperation system for two tracked mobile robots transporting a single object in coordination based on function allocation concept

Hiroki Takeda, Zhi Dong Wang, Kazuhiro Kosuge

研究成果: Chapter

抄録

In this paper, we propose a collision avoidance algorithm for two nonholonomic tracked mobile robots transporting a single object based on a function-allocation concept. In this algorithm, a leader robot is controlled manually. A follower robot estimates the desired trajectory of the leader along its own heading direction and generates the motion for transporting the object and for avoiding obstacles by using an omni-directional vision sensor. We experimentally implement the proposed algorithm in a tracked mobile robots system, and illustrate the validity of the proposed control algorithm.

本文言語English
ホスト出版物のタイトルRobotics
ホスト出版物のサブタイトルRecent Advances in Research and Applications
編集者Shinichi Yuta, Hajima Asama, Erwin Prassler, Takashi Tsubouchi, Sebastian
ページ333-342
ページ数10
DOI
出版ステータスPublished - 2006

出版物シリーズ

名前Springer Tracts in Advanced Robotics
24
ISSN(印刷版)1610-7438
ISSN(電子版)1610-742X

ASJC Scopus subject areas

  • 電子工学および電気工学
  • 人工知能

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