Title :
Coordinated motion control of multiple robots without position information of each robot
Author :
Hirata, Yasuhisa ; Kosuge, Kazuhiro
Author_Institution :
Dept. of Machine Intelligence & Syst. Eng., Tohoku Univ., Sendai, Japan
Abstract :
We propose a decentralized control algorithm of multiple mobile robots 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 mobile robots. Experimental results illustrate the validity of the proposed control algorithm
Keywords :
cooperative systems; decentralised control; mobile robots; motion control; multi-robot systems; coordinated control; decentralized control; mobile robots; motion control; multiple robot system; Algorithm design and analysis; Distributed control; Humans; Intelligent robots; Mobile robots; Motion control; Robot control; Robot kinematics; Transportation; Wheels;
Conference_Titel :
Decision and Control, 2000. Proceedings of the 39th IEEE Conference on
Conference_Location :
Sydney, NSW
Print_ISBN :
0-7803-6638-7
DOI :
10.1109/CDC.2000.912784
