TY - GEN
T1 - A car transportation system using multiple mobile robots
T2 - 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems: Celebrating 50 Years of Robotics, IROS'11
AU - Kashiwazaki, Koshi
AU - Yonezawa, Naoaki
AU - Endo, Mitsuru
AU - Kosuge, Kazuhiro
AU - Sugahara, Yusuke
AU - Hirata, Yasuhisa
AU - Kanbayashi, Takashi
AU - Suzuki, Koki
AU - Murakami, Kazunori
AU - Nakamura, Kenichi
PY - 2011
Y1 - 2011
N2 - This paper proposes a new car transportation system, iCART II (intelligent Cooperative Autonomous Robot Transporters - type II), based on "a-robot-for-a-wheel" concept. A prototype system, MRWheel (a Mobile Robot for a Wheel), is designed and downsized less than the half of the conventional robot used in iCART (intelligent Cooperative Autonomous Robot Transporters). In general, it is very difficult for mobile robots such as MRWheel to move to desired positions without motion errors caused by slipping, etc. Therefore we propose a decentralized control algorithm for car transportation in coordination by using a leader-follower type multiple robot system. The proposed algorithm enables the followers to estimate and reduce the motion errors and then enables the robots to transport a car to a desired position, even if the motion errors occur. In addition, we discuss how the external force applied to each robot during transporting a car, such as an inertial and friction force, is shared among the robots, and we propose a model-based external force estimation and compensation method. The proposed control algorithm is applied to the system, and the results of car transportation experiment confirm its validity.
AB - This paper proposes a new car transportation system, iCART II (intelligent Cooperative Autonomous Robot Transporters - type II), based on "a-robot-for-a-wheel" concept. A prototype system, MRWheel (a Mobile Robot for a Wheel), is designed and downsized less than the half of the conventional robot used in iCART (intelligent Cooperative Autonomous Robot Transporters). In general, it is very difficult for mobile robots such as MRWheel to move to desired positions without motion errors caused by slipping, etc. Therefore we propose a decentralized control algorithm for car transportation in coordination by using a leader-follower type multiple robot system. The proposed algorithm enables the followers to estimate and reduce the motion errors and then enables the robots to transport a car to a desired position, even if the motion errors occur. In addition, we discuss how the external force applied to each robot during transporting a car, such as an inertial and friction force, is shared among the robots, and we propose a model-based external force estimation and compensation method. The proposed control algorithm is applied to the system, and the results of car transportation experiment confirm its validity.
UR - http://www.scopus.com/inward/record.url?scp=84455175186&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84455175186&partnerID=8YFLogxK
U2 - 10.1109/IROS.2011.6048530
DO - 10.1109/IROS.2011.6048530
M3 - Conference contribution
AN - SCOPUS:84455175186
SN - 9781612844541
T3 - IEEE International Conference on Intelligent Robots and Systems
SP - 4593
EP - 4600
BT - IROS'11 - 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems
Y2 - 25 September 2011 through 30 September 2011
ER -