Title :
Transportation of a single object by two decentralized-controlled nonholonomic mobile robots
Author :
Kosuge, Kazuhiro ; Oosumi, Tomohiro ; Satou, Manabu ; Chiba, Kunihiko ; Takeo, Koji
Author_Institution :
Dept. of Machine Intelligence & Syst. Eng., Tohoku Univ., Sendai, Japan
Abstract :
We propose a decentralized control algorithm for transporting a single object by two nonholonomic mobile robots driven by two wheels. We extend the leader-follower type control algorithm, proposed by Kosuge and Oosumi (1996) for holonomic robots, to mobile robots by introducing the dual caster action. The extended control algorithm is applied to two experimental tracked mobile robots, and the experimental results illustrate the validity of the control algorithm
Keywords :
compliance control; control system synthesis; decentralised control; mobile robots; motion control; robot dynamics; decentralized-controlled nonholonomic mobile robots; dual caster action; leader-follower type control algorithm; tracked mobile robots; Centralized control; Communication system control; Control systems; Distributed control; Manipulators; Mobile robots; Robot control; Robot kinematics; Transportation; Wheels;
Conference_Titel :
Robotics and Automation, 1998. Proceedings. 1998 IEEE International Conference on
Conference_Location :
Leuven
Print_ISBN :
0-7803-4300-X
DOI :
10.1109/ROBOT.1998.680884
