TY - GEN
T1 - Trajectory generation for multiple robots of a car transportation system
AU - Endo, Mitsuru
AU - Hirose, Kenji
AU - Sugahara, Yusuke
AU - Hirata, Yasuhisa
AU - Kosuge, Kazuhiro
AU - Kanbayashi, Takashi
AU - Oomoto, Mitsukazu
AU - Suzuki, Koki
AU - Murakami, Kazunori
AU - Nakamura, Kenichi
PY - 2009
Y1 - 2009
N2 - We propose a car transportation system referred to as iCART (intelligent Cooperative Autonomous Robot Transporters). In this system, two robots approach the car autonomously, and lift up it for supporting its weight from right/left side respectively. Then, two robots transport the car in coordination. Collision-free trajectories for approaching and transporting the car are generated based on the potential field in the configuration space. In this paper, we describe details of the way to construct a configuration space, to apply a potential to the configuration space, and to generate a trajectory. Additionally, for generating the collision-free trajectory on the environment where two robots exist, repulsive potentials are applied to each robot. Described methods are integrated to iCART and experimental results illustrate the validity of the proposed method.
AB - We propose a car transportation system referred to as iCART (intelligent Cooperative Autonomous Robot Transporters). In this system, two robots approach the car autonomously, and lift up it for supporting its weight from right/left side respectively. Then, two robots transport the car in coordination. Collision-free trajectories for approaching and transporting the car are generated based on the potential field in the configuration space. In this paper, we describe details of the way to construct a configuration space, to apply a potential to the configuration space, and to generate a trajectory. Additionally, for generating the collision-free trajectory on the environment where two robots exist, repulsive potentials are applied to each robot. Described methods are integrated to iCART and experimental results illustrate the validity of the proposed method.
UR - http://www.scopus.com/inward/record.url?scp=78751512334&partnerID=8YFLogxK
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U2 - 10.1007/978-3-642-00644-9_27
DO - 10.1007/978-3-642-00644-9_27
M3 - Conference contribution
AN - SCOPUS:78751512334
SN - 9783642006432
T3 - Distributed Autonomous Robotic Systems 8
SP - 305
EP - 314
BT - Distributed Autonomous Robotic Systems 8
PB - Springer Publishing Company
T2 - 9th International Symposia on Distributed Autonomous Robotic Systems, DARS 2008
Y2 - 17 November 2008 through 19 November 2008
ER -