Title :
On cooperative conveyance by two mobile robots
Author :
Yamauchi, Yukiharu ; Ishikawa, Seiji ; Uemura, Naoko ; Kato, Kiyoshi
Author_Institution :
Yaskawa Inf. Syst. Co. Ltd., Kitakyushu, Japan
Abstract :
This paper presents a two mobile robots system in which the robots carry an object in a cooperative way. We concentrate on cooperative work by two developed mobile robots each equipped with a video camera and two main wheels, and controlled by a microcomputer. The two microcomputers are connected to each other through a serial interface bus to realize mutual communication. The robots push an object together on a flat laboratory floor, performing image processing in order to detect the posture of the object and mutually controlling their velocities. The system configuration is described as well as the image processing the robots perform and their communications. Experimental results are given with discussion
Keywords :
computer vision; computerised control; cooperative systems; image processing; materials handling; mobile robots; velocity control; cooperative conveyance; cooperative work; image processing; microcomputer control; mobile robots; mutual communication; serial interface bus; velocity control; video camera; Cameras; Collaborative work; Communication system control; Image processing; Laboratories; Microcomputers; Mobile communication; Mobile robots; Robot vision systems; Wheels;
Conference_Titel :
Industrial Electronics, Control, and Instrumentation, 1993. Proceedings of the IECON '93., International Conference on
Conference_Location :
Maui, HI
Print_ISBN :
0-7803-0891-3
DOI :
10.1109/IECON.1993.339289
