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会議記事査読

4 被引用数 (Scopus)


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.

ジャーナルProceedings - IEEE International Conference on Robotics and Automation
出版ステータス出版済み - 2003
イベント2003 IEEE International Conference on Robotics and Automation - Taipei, 台湾
継続期間: 9月 14 20039月 19 2003

!!!All Science Journal Classification (ASJC) codes

  • ソフトウェア
  • 制御およびシステム工学
  • 人工知能
  • 電子工学および電気工学


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