Trajectory generation for multiple robots of a car transportation system

Mitsuru Endo, Kenji Hirose, Yusuke Sugahara, Yasuhisa Hirata, Kazuhiro Kosuge, Takashi Kanbayashi, Mitsukazu Oomoto, Koki Suzuki, Kazunori Murakami, Kenichi Nakamura

研究成果: Conference contribution

6 被引用数 (Scopus)

抄録

We propose a car transportation system referred to 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.

本文言語English
ホスト出版物のタイトルDistributed Autonomous Robotic Systems 8
出版社Springer Publishing Company
ページ305-314
ページ数10
ISBN(印刷版)9783642006432
DOI
出版ステータスPublished - 2009
イベント9th International Symposia on Distributed Autonomous Robotic Systems, DARS 2008 - Tsukuba, Japan
継続期間: 2008 11月 172008 11月 19

出版物シリーズ

名前Distributed Autonomous Robotic Systems 8

Other

Other9th International Symposia on Distributed Autonomous Robotic Systems, DARS 2008
国/地域Japan
CityTsukuba
Period08/11/1708/11/19

ASJC Scopus subject areas

  • 人工知能
  • 人間とコンピュータの相互作用
  • 制御およびシステム工学

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