A car transportation system using multiple coordinated robots: ICART (2nd report, a distributed coordination control algorithm)

Mitsuru Endo; Kazuhiro Kosuge; Kenji Hirose; Yasuhisa Hirata; Yusuke Sugahara; Koki Suzuki; Takashi Kanbayashi

doi:10.1299/kikaic.76.103

A car transportation system using multiple coordinated robots: ICART (2nd report, a distributed coordination control algorithm)

Mitsuru Endo, Kazuhiro Kosuge, Kenji Hirose, Yasuhisa Hirata, Yusuke Sugahara, Koki Suzuki, Takashi Kanbayashi

ENG - Robotics

Nihon University

Research output: Contribution to journal › Article › peer-review

Abstract

We proposed a novel car transportation system termed as iCART (intelligent Cooperative Autonomous Robot Transporters). This system transports cars using two mobile robots that move in coordination. In this paper, a leader-follower type decentralized motion control algorithm considering the effect of rolling friction at the contact of the end-effector with the ground is proposed. The consideration of the rolling friction effect is needed, because an end-effector of the robot is grounded for supporting weight of a car. The proposed algorithm was applied to the experimental system, and experiments were done. Experimental results illustrate the validity of the proposed algorithms.

Original language	English
Pages (from-to)	103-109
Number of pages	7
Journal	Nihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C
Volume	76
Issue number	761
DOIs	https://doi.org/10.1299/kikaic.76.103
Publication status	Published - 2010 Jan

Keywords

Car transportation system, multiple robot coordination, distributed control

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10.1299/kikaic.76.103

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Endo, M., Kosuge, K., Hirose, K., Hirata, Y., Sugahara, Y., Suzuki, K., & Kanbayashi, T. (2010). A car transportation system using multiple coordinated robots: ICART (2nd report, a distributed coordination control algorithm). Nihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C, 76(761), 103-109. https://doi.org/10.1299/kikaic.76.103

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abstract = "We proposed a novel car transportation system termed as iCART (intelligent Cooperative Autonomous Robot Transporters). This system transports cars using two mobile robots that move in coordination. In this paper, a leader-follower type decentralized motion control algorithm considering the effect of rolling friction at the contact of the end-effector with the ground is proposed. The consideration of the rolling friction effect is needed, because an end-effector of the robot is grounded for supporting weight of a car. The proposed algorithm was applied to the experimental system, and experiments were done. Experimental results illustrate the validity of the proposed algorithms.",

keywords = "Car transportation system, multiple robot coordination, distributed control",

author = "Mitsuru Endo and Kazuhiro Kosuge and Kenji Hirose and Yasuhisa Hirata and Yusuke Sugahara and Koki Suzuki and Takashi Kanbayashi",

year = "2010",

month = jan,

doi = "10.1299/kikaic.76.103",

language = "English",

volume = "76",

pages = "103--109",

journal = "Nihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C",

issn = "0387-5024",

publisher = "Japan Society of Mechanical Engineers",

number = "761",

}

Endo, M, Kosuge, K, Hirose, K, Hirata, Y, Sugahara, Y, Suzuki, K & Kanbayashi, T 2010, 'A car transportation system using multiple coordinated robots: ICART (2nd report, a distributed coordination control algorithm)', Nihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C, vol. 76, no. 761, pp. 103-109. https://doi.org/10.1299/kikaic.76.103

A car transportation system using multiple coordinated robots: ICART (2nd report, a distributed coordination control algorithm). / Endo, Mitsuru; Kosuge, Kazuhiro; Hirose, Kenji et al.
In: Nihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C, Vol. 76, No. 761, 01.2010, p. 103-109.

Research output: Contribution to journal › Article › peer-review

TY - JOUR

T1 - A car transportation system using multiple coordinated robots

T2 - ICART (2nd report, a distributed coordination control algorithm)

AU - Endo, Mitsuru

AU - Kosuge, Kazuhiro

AU - Hirose, Kenji

AU - Hirata, Yasuhisa

AU - Sugahara, Yusuke

AU - Suzuki, Koki

AU - Kanbayashi, Takashi

PY - 2010/1

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N2 - We proposed a novel car transportation system termed as iCART (intelligent Cooperative Autonomous Robot Transporters). This system transports cars using two mobile robots that move in coordination. In this paper, a leader-follower type decentralized motion control algorithm considering the effect of rolling friction at the contact of the end-effector with the ground is proposed. The consideration of the rolling friction effect is needed, because an end-effector of the robot is grounded for supporting weight of a car. The proposed algorithm was applied to the experimental system, and experiments were done. Experimental results illustrate the validity of the proposed algorithms.

AB - We proposed a novel car transportation system termed as iCART (intelligent Cooperative Autonomous Robot Transporters). This system transports cars using two mobile robots that move in coordination. In this paper, a leader-follower type decentralized motion control algorithm considering the effect of rolling friction at the contact of the end-effector with the ground is proposed. The consideration of the rolling friction effect is needed, because an end-effector of the robot is grounded for supporting weight of a car. The proposed algorithm was applied to the experimental system, and experiments were done. Experimental results illustrate the validity of the proposed algorithms.

KW - Car transportation system, multiple robot coordination, distributed control

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JO - Nihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C

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ER -

A car transportation system using multiple coordinated robots: ICART (2nd report, a distributed coordination control algorithm)

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