Coordinated transportation of a single object by multiple mobile robots without position information of each robot

Author

Hirata, Yasuhisa ; Kosuge, Kazuhiro ; Asama, Hajime ; Kaetsu, Hayato ; Kawabata, Kuniaki

Author_Institution

Dept. of Machine Intelligence & Syst Eng., Tohoku Univ., Sendai, Japan

Volume

3

fYear

2000

fDate

2000

Firstpage

2024

Abstract

We propose a decentralized control algorithm of multiple mobile robots transporting a single object in coordination. In this algorithm, each robot is controlled as if it has a caster-like mechanism and transportation of a single object by multiple mobile robots is realized without using the geometric relations among robots. The proposed control algorithm is experimentally applied to two mobile robots. Experimental results illustrate the validity of the proposed control algorithm

Keywords

cooperative systems; decentralised control; mobile robots; motion control; multi-robot systems; transportation; caster-like motion; coordinated transportation; decentralized control; motion control; multiple mobile robots; Algorithm design and analysis; Dead reckoning; Intelligent robots; Machine intelligence; Mobile robots; Motion control; Robot control; Robot kinematics; Transportation; Wheels;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Robots and Systems, 2000. (IROS 2000). Proceedings. 2000 IEEE/RSJ International Conference on

Conference_Location

Takamatsu

Print_ISBN

0-7803-6348-5

Type

conf

DOI

10.1109/IROS.2000.895268

Filename

895268