Transportation of a large object by small mobile robots using hand carts

This paper proposes a methodology for transportation of a large object by mobile robots using small hand carts. Utilization of the hand carts reduces the load on mobile robots. Hence mobile robots can transport heavier or bigger objects than the ordinary method in which mobile robots transport objects by grasping it using their end-effectors. In this paper we propose an algorithm that decides the position and method of said objects. The proposed algorithm is evaluated in a simulation and the results indicate that it is indeed useful. Finally, we designed an end-effector in order to realize our method in a real world environment.