TY - GEN
T1 - A car transportation system by multiple mobile robots - ICART
AU - Endo, Mitsuru
AU - Hirose, Kenji
AU - Hirata, Yasuhisa
AU - Kosuge, Kazuhiro
AU - Kanbayashi, Takashi
AU - Oomoto, Mitsukazu
AU - Akune, Kei
AU - Arai, Hiroyuki
AU - Shinoduka, Hiroyuki
AU - Suzuki, Kouki
PY - 2008
Y1 - 2008
N2 - In this paper, we propose a new car transportation system referred to as iCART(intelligent cooperative autonomous robot transporters). This system consists of two robots for the car transportation. Each robot is controlled by using a decentralized control algorithm for transporting the car in coordination. A trajectory for transporting the car is given to one of robots, and another robot estimates the trajectory through the interaction force between two robots. This car transportation system could transport any size of cars, and is available for any kinds of car transportation tasks such as parking, ballet parking, tow away service, and the transportation of cars at a factory, ferry, parking area, etc. The proposed car transportation system are developed and the control algorithm is experimentally applied to them. The experimental results illustrate the validity of the proposed system.
AB - In this paper, we propose a new car transportation system referred to as iCART(intelligent cooperative autonomous robot transporters). This system consists of two robots for the car transportation. Each robot is controlled by using a decentralized control algorithm for transporting the car in coordination. A trajectory for transporting the car is given to one of robots, and another robot estimates the trajectory through the interaction force between two robots. This car transportation system could transport any size of cars, and is available for any kinds of car transportation tasks such as parking, ballet parking, tow away service, and the transportation of cars at a factory, ferry, parking area, etc. The proposed car transportation system are developed and the control algorithm is experimentally applied to them. The experimental results illustrate the validity of the proposed system.
UR - http://www.scopus.com/inward/record.url?scp=69549090673&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=69549090673&partnerID=8YFLogxK
U2 - 10.1109/IROS.2008.4651200
DO - 10.1109/IROS.2008.4651200
M3 - Conference contribution
AN - SCOPUS:69549090673
SN - 9781424420582
T3 - 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS
SP - 2795
EP - 2801
BT - 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS
T2 - 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS
Y2 - 22 September 2008 through 26 September 2008
ER -