TY - JOUR
T1 - A car transportation system using multiple robots iCART
T2 - (1st report, the design and the control algorithm of robots)
AU - Kosuge, Kazuhiro
AU - Endo, Mitsuru
AU - Hirose, Kenji
AU - Hirata, Yasuhisa
AU - Sugahara, Yusuke
AU - Suzuki, Koki
AU - Shinozuka, Hiroyuki
AU - Arai, Hiroyuki
AU - Akune, Kei
AU - Kanbayashi, Takashi
N1 - Copyright:
Copyright 2020 Elsevier B.V., All rights reserved.
PY - 2009/7
Y1 - 2009/7
N2 - We propose a novel car transportation system termed as iCART (intelligent cooperative autonomous robot transporters). This system transports cars using two robots that move in coordination. This car transportation system can transport cars of any size and offers various functions such as parking, valet parking, towing service, and the transportation of cars inside a factory, onto a ferry, and in complicated parking areas. The robots in this car transportation system comprise three modules: the mobile base module, the lifter module, and the connecting module. This paper describes the details of the operation mechanism and the basic algorithm of each module. A leader-follower-type distributed motion control algorithm is applied to the proposed system and is used in an experiment performed to verify the validity of its function.
AB - We propose a novel car transportation system termed as iCART (intelligent cooperative autonomous robot transporters). This system transports cars using two robots that move in coordination. This car transportation system can transport cars of any size and offers various functions such as parking, valet parking, towing service, and the transportation of cars inside a factory, onto a ferry, and in complicated parking areas. The robots in this car transportation system comprise three modules: the mobile base module, the lifter module, and the connecting module. This paper describes the details of the operation mechanism and the basic algorithm of each module. A leader-follower-type distributed motion control algorithm is applied to the proposed system and is used in an experiment performed to verify the validity of its function.
KW - Car transportation system
KW - Mechanical design
KW - Multiple robots coordination
UR - http://www.scopus.com/inward/record.url?scp=70349646127&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=70349646127&partnerID=8YFLogxK
U2 - 10.1299/kikaic.75.2028
DO - 10.1299/kikaic.75.2028
M3 - Article
AN - SCOPUS:70349646127
SN - 0387-5024
VL - 75
SP - 2028
EP - 2035
JO - Nihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C
JF - Nihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C
IS - 755
ER -