Title :
Optimal control for cooperating mobile robots bearing a common load
Author :
Stilwell, Daniel J. ; Bay, John S.
Author_Institution :
Mitre Corp., Bedford, MA, USA
Abstract :
Coordinated motion of a group of mobile robots bearing a common load is investigated. By extending the results of research with similar multi-robot material handling systems, a supervisory control is derived that provides an optimal distribution of work among the robots while accounting for the robots nonholonomic constraints
Keywords :
constraint handling; cooperative systems; mobile robots; motion control; optimal control; cooperating mobile robots; coordinated motion control; material handling systems; nonholonomic constraints; optimal control; optimal work distribution; supervisory control; Control systems; Grasping; Linear programming; Manipulators; Materials handling; Mobile robots; Optimal control; Robot kinematics; Supervisory control; Vehicles;
Conference_Titel :
Robotics and Automation, 1994. Proceedings., 1994 IEEE International Conference on
Conference_Location :
San Diego, CA
Print_ISBN :
0-8186-5330-2
DOI :
10.1109/ROBOT.1994.351010
