TY - JOUR
T1 - Desentralized Motion Control of Multiple Mobile Robots for Transporting an Object without Geometric Relations among Robots
AU - Hirata, Yasuhisa
AU - Kosuge, Kazuhiro
AU - Asama, Hajime
AU - Kaetsu, Hayato
AU - Kawabata, Kuniaki
PY - 2003
Y1 - 2003
N2 - In this paper, we propose a decentralized motion control algorithm of multiple mobile robots for transporting a single object in coordination. In this algorithm, each robot is controlled as if it has a caster-like dynamics and transports a single object in coordination with other robots without using the geometric relations among robots. The proposed control algorithm is experimentally applied to multiple omnidirectional mobile robots. Experimental results illustrate the validity of the proposed control algorithm.
AB - In this paper, we propose a decentralized motion control algorithm of multiple mobile robots for transporting a single object in coordination. In this algorithm, each robot is controlled as if it has a caster-like dynamics and transports a single object in coordination with other robots without using the geometric relations among robots. The proposed control algorithm is experimentally applied to multiple omnidirectional mobile robots. Experimental results illustrate the validity of the proposed control algorithm.
KW - Coordinated Motion Control
KW - Decentralized Motion Control
KW - Motion Control
KW - Moving Robot
KW - Robot
KW - Transportation
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U2 - 10.1299/kikaic.69.204
DO - 10.1299/kikaic.69.204
M3 - Article
AN - SCOPUS:0037257489
SN - 0387-5024
VL - 69
SP - 204
EP - 211
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 - 677
ER -