Mobile robot teamwork for cooperated task

Author

Iida, Wataru ; Ohnishi, Kouhei

Author_Institution

Fac. of Sci. & Technol., Keio Univ., Kanagawa, Japan

Volume

2

fYear

2002

fDate

5-8 Nov. 2002

Firstpage

1561

Abstract

When plural robots exist in the same workspace, first we have to decide robots in order to accomplish some tasks. There have been a lot of works that report how to control robots in cooperation, but there have been few works that report how to decide robots to be used. In this paper, a method for deciding a team of mobile robots is described. The aim of the team is to carry load in minimum working time. Working time is depend on some elements-distance between robot and load, torque a robot can output, maximum velocity and acceleration of robot, condition of robot, and so on. Each element as described above is named "ability" in this paper. For deciding a team, that is combination of robots, ability gaps in mobile robots are considered. Taking account of the ability gaps, a method for calculation of working time is described. To curtail the time of calculation and obtain a combination efficiently, genetic algorithm is introduced. Simulation and experiment result is shown to confirm the effectiveness of the method described in this paper.

Keywords

cooperative systems; genetic algorithms; mobile robots; multi-robot systems; torque; ability gaps; cooperated task; cooperative control; genetic algorithm; maximum velocity; mobile robot team; mobile robot teamwork; multi-robot system; robot acceleration; robot condition; team decision; torque; working time; workspace; Acceleration; Design engineering; Genetic algorithms; Mobile robots; Robot control; Robot kinematics; Systems engineering and theory; Teamwork; Torque; Wheels;

fLanguage

English

Publisher

ieee

Conference_Titel

IECON 02 [Industrial Electronics Society, IEEE 2002 28th Annual Conference of the]

Print_ISBN

0-7803-7474-6

Type

conf

DOI

10.1109/IECON.2002.1185512

Filename

1185512