A common reference object concept to cooperative transportation

Xin Yang, Keigo Watanabe, Kiyotaka Izumi, Kazuo Kiguchi

研究成果: ジャーナルへの寄稿Conference article

3 引用 (Scopus)

抄録

A concept called "common reference object" is proposed for cooperatively transportation and a decentralized system consisting of multiple noholonomic mobile robots is constructed to demonstrate the present concept. In this system, one agent acts as the leader, which is able to plan and manipulate the omnidirectional motion of the object. Other agents referred to as followers are equipped with compliance arms and cooperatively transport the object by keeping a constant position relative to the object. During transportation operation, the leader robot can not only plan the motion of the object but also broadcast the local velocity of the object to other agents. Then, each follower receives such information and generates its own velocity in the local coordinate using a mapping process. In this paper, neural network (NN) and genetic algorithm (GA) are tested in identifying the mapping process. Simulation results show a good performance of the present system.

元の言語英語
ページ(範囲)515-520
ページ数6
ジャーナルProceedings - IEEE International Conference on Robotics and Automation
1
出版物ステータス出版済み - 12 9 2003
外部発表Yes
イベント2003 IEEE International Conference on Robotics and Automation - Taipei, 台湾省、中華民国
継続期間: 9 14 20039 19 2003

Fingerprint

Mobile robots
Genetic algorithms
Robots
Neural networks
Compliance

All Science Journal Classification (ASJC) codes

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

これを引用

A common reference object concept to cooperative transportation. / Yang, Xin; Watanabe, Keigo; Izumi, Kiyotaka; Kiguchi, Kazuo.

:: Proceedings - IEEE International Conference on Robotics and Automation, 巻 1, 09.12.2003, p. 515-520.

研究成果: ジャーナルへの寄稿Conference article

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