Teleoperation system for two tracked mobile robots transporting a single object in coordination based on function allocation concept

Hiroki Takeda; Zhi Dong Wang; Kazuhiro Kosuge

doi:10.1007/10991459_32

Teleoperation system for two tracked mobile robots transporting a single object in coordination based on function allocation concept

Hiroki Takeda, Zhi Dong Wang, Kazuhiro Kosuge

Research output: Chapter in Book/Report/Conference proceeding › Chapter

Abstract

In this paper, we propose a collision avoidance algorithm for two nonholonomic tracked mobile robots transporting a single object based on a function-allocation concept. In this algorithm, a leader robot is controlled manually. A follower robot estimates the desired trajectory of the leader along its own heading direction and generates the motion for transporting the object and for avoiding obstacles by using an omni-directional vision sensor. We experimentally implement the proposed algorithm in a tracked mobile robots system, and illustrate the validity of the proposed control algorithm.

Original language	English
Title of host publication	Robotics
Subtitle of host publication	Recent Advances in Research and Applications
Editors	Shinichi Yuta, Hajima Asama, Erwin Prassler, Takashi Tsubouchi, Sebastian
Pages	333-342
Number of pages	10
DOIs	https://doi.org/10.1007/10991459_32
Publication status	Published - 2006
Externally published	Yes

Publication series

Name	Springer Tracts in Advanced Robotics
Volume	24
ISSN (Print)	1610-7438
ISSN (Electronic)	1610-742X

ASJC Scopus subject areas

Electrical and Electronic Engineering
Artificial Intelligence

Access to Document

10.1007/10991459_32

Cite this

Takeda, H., Wang, Z. D., & Kosuge, K. (2006). Teleoperation system for two tracked mobile robots transporting a single object in coordination based on function allocation concept. In S. Yuta, H. Asama, E. Prassler, T. Tsubouchi, & Sebastian (Eds.), Robotics: Recent Advances in Research and Applications (pp. 333-342). (Springer Tracts in Advanced Robotics; Vol. 24). https://doi.org/10.1007/10991459_32

Teleoperation system for two tracked mobile robots transporting a single object in coordination based on function allocation concept. / Takeda, Hiroki; Wang, Zhi Dong; Kosuge, Kazuhiro.
Robotics: Recent Advances in Research and Applications. ed. / Shinichi Yuta; Hajima Asama; Erwin Prassler; Takashi Tsubouchi; Sebastian. 2006. p. 333-342 (Springer Tracts in Advanced Robotics; Vol. 24).

Research output: Chapter in Book/Report/Conference proceeding › Chapter

Takeda, H, Wang, ZD & Kosuge, K 2006, Teleoperation system for two tracked mobile robots transporting a single object in coordination based on function allocation concept. in S Yuta, H Asama, E Prassler, T Tsubouchi & Sebastian (eds), Robotics: Recent Advances in Research and Applications. Springer Tracts in Advanced Robotics, vol. 24, pp. 333-342. https://doi.org/10.1007/10991459_32

Takeda, Hiroki ; Wang, Zhi Dong ; Kosuge, Kazuhiro. / Teleoperation system for two tracked mobile robots transporting a single object in coordination based on function allocation concept. Robotics: Recent Advances in Research and Applications. editor / Shinichi Yuta ; Hajima Asama ; Erwin Prassler ; Takashi Tsubouchi ; Sebastian. 2006. pp. 333-342 (Springer Tracts in Advanced Robotics).

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Teleoperation system for two tracked mobile robots transporting a single object in coordination based on function allocation concept

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