The driving control system for articulate mobile robots

This paper considers the control of serially articulated mobile robots by a passive joint arm. Multi articulated robots has various practical advantages such as mobility and carrying capacity. However, it is difficult for an operator to control such robots simultaneously. In this paper, we consider the system that is easy for operators to control multi articulated robots. The basic idea is that an operator operates only the front vehicle and the other vehicles are controlled to track the trajectory of their front vehicles. We use HELIOS Carrier as a mobile platform, and propose the control method applicable to HELIOS Carrier connected by a passive arm. The effectiveness of our approach is evaluated through simulations and experiments.