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Trajectory Generation for Multiple Robots of a Car Transportation System

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Distributed Autonomous Robotic Systems 8

Abstract

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.

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References

  1. Endo, M., Hirose, K., Hirata, Y., Kosuge, K., Kanbayashi, T., Oomoto, M., Akune, K., Arai, H., Shinozuka, H., Suzuki, K.: A Car Transportation System by Multiple Mobile Robots -iCART. In: IEEE/RSJ International Conference on Intelligent Robots and Systems (2008) (to appear)

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Author information

Authors and Affiliations

  1. System Robotics Laboratory, Department of Bioengineering and Robotics, Tohoku University,  

    Mitsuru Endo, Kenji Hirose, Yusuke Sugahara, Yasuhisa Hirata & Kazuhiro Kosuge

  2. Ishikawajima Transport Machinery Co., Ltd.,  

    Takashi Kanbayashi, Mitsukazu Oomoto, Koki Suzuki, Kazunori Murakami & Kenichi Nakamura

Authors
  1. Mitsuru Endo
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  2. Kenji Hirose
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  3. Yusuke Sugahara
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  4. Yasuhisa Hirata
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  5. Kazuhiro Kosuge
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  6. Takashi Kanbayashi
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  7. Mitsukazu Oomoto
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  8. Koki Suzuki
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  9. Kazunori Murakami
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  10. Kenichi Nakamura
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Editor information

Editors and Affiliations

  1. RACE (Research into Artifacts, Center for Engineering), The University of Tokyo, Kashiwanoha 5-1-5, 277-8568, Kashiwa-shi, Chiba, Japan

    Hajime Asama

  2. Distributed System Design Research Group, National Institute of Advanced Industrial Science and Technology (AIST), 1-2-1 Namiki, Tsukuba, 305-8564, Ibaraki, Japan

    Haruhisa Kurokawa

  3. Graduate School of Engineering, The University of Tokyo, 7-3-1 Hongo, Bunkyo-Ku, Tokyo, Japan

    Jun Ota

  4. Department of Micro-Nano Systems Engineering, Nagoya University, 464-8603, Nagoya, Japan

    Kosuke Sekiyama

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© 2009 Springer-Verlag Berlin Heidelberg

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Endo, M. et al. (2009). Trajectory Generation for Multiple Robots of a Car Transportation System. In: Asama, H., Kurokawa, H., Ota, J., Sekiyama, K. (eds) Distributed Autonomous Robotic Systems 8. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-00644-9_27

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  • DOI: https://doi.org/10.1007/978-3-642-00644-9_27

  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-642-00643-2

  • Online ISBN: 978-3-642-00644-9

  • eBook Packages: EngineeringEngineering (R0)

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