DocumentCode
2046445
Title
Experiments on transportation support system using multi-vehicle´s formation
Author
Kawai, Yasunori ; Nagashima, Kentarou ; Namerikawa, Toru
Author_Institution
Dept. of Electr. Eng., Ishikawa Nat. Coll. of Technol., Ishikawa, Japan
fYear
2011
fDate
13-18 Sept. 2011
Firstpage
682
Lastpage
687
Abstract
This paper considers the transportation support system using multi-vehicle´s formation. The objective of our research is to carry the load using four vehicles keeping the formation with information exchange among vehicles. The control law based on a Lyapunov function is proposed based on the virtual structure and the graph Laplacian. In the simulation and experiment, it is shown that four vehicles can reach the reference position by using four wheeled mobile vehicles.
Keywords
Lyapunov methods; mobile robots; multi-robot systems; Lyapunov function; four wheeled mobile vehicles; graph Laplacian; information exchange; multivehicle formation; transportation support system; virtual structure; Equations; Kinematics; Laplace equations; Mathematical model; Microcomputers; Vehicles; Lyapunov function; formation; multi-vehicle; stability; virtual structure;
fLanguage
English
Publisher
ieee
Conference_Titel
SICE Annual Conference (SICE), 2011 Proceedings of
Conference_Location
Tokyo
ISSN
pending
Print_ISBN
978-1-4577-0714-8
Type
conf
Filename
6060751
Link To Document