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Coordinated Transportation of a Single Object by a Group of Nonholonomic Mobile Robots

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Distributed Autonomous Robotic Systems 5

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Abstract

In this paper, we propose a decentralized control system for transporting a single object by a group of nonholonomic mobile robots. One of these mobile robots acts as a leader, who is assumed to be able to plan and manipulate the omnidirectional motion of the object. Other robots, referred to as followers, cooperatively transport the object by keeping the initial relative position to the object. Different from the conventional leader-follower type system of transporting a signal object by multiple robots in coordination, the present follower can plan an action based on its local coordinate and does not need any absolute positional information. The simulation result exhibits a good performance of the proposed system.

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Author information

Authors and Affiliations

  1. Department of Production Control Technology, Division of Engineering Systems and Technology, Saga University, 1-Honjomachi, Saga, 840-8502, Japan

    Xin Yang

  2. Department of Advanced Systems Control Engineering, Graduate School of Science and Engineering, Saga University, 1-Honjomachi, Saga, 840-8502, Japan

    Keigo Watanabe, Kazuo Kiguchi & Kiyotaka Izumi

Authors
  1. Xin Yang
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  2. Keigo Watanabe
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  3. Kazuo Kiguchi
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  4. Kiyotaka Izumi
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Editor information

Editors and Affiliations

  1. Advanced Engineering Center, RIKEN (The Institute of Physical and Chemical Research), 2-1 Hirosawa, 351-0198, Wako-shi, Saitama, Japan

    Hajime Asama (Head of Instrumentation Project Promotion Division) (Head of Instrumentation Project Promotion Division)

  2. Department of Precision Machinery Engineering, The Unviersity of Tokyo, 7-3-1 Hongo, 113-8656, Bunkyo-ku, Tokyo, Japan

    Tamio Arai (Professor) (Professor)

  3. Department of Micro System Engineering, Nagoya University, 464-8603, Furo-cho, Chikusa-ku, Nagoya, Japan

    Toshio Fukuda (Professor) (Professor)

  4. Department of Intelligent Systems Graduate School of Information and Electrical Engineering, Kyushu University, 6-10-1 Hakozaki, 812-8581, Higaschi-ku, Fukuoka, Japan

    Tsutomu Hasegawa (Professor) (Professor)

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© 2002 Springer-Verlag Tokyo

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Yang, X., Watanabe, K., Kiguchi, K., Izumi, K. (2002). Coordinated Transportation of a Single Object by a Group of Nonholonomic Mobile Robots. In: Asama, H., Arai, T., Fukuda, T., Hasegawa, T. (eds) Distributed Autonomous Robotic Systems 5. Springer, Tokyo. https://doi.org/10.1007/978-4-431-65941-9_18

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  • DOI: https://doi.org/10.1007/978-4-431-65941-9_18

  • Publisher Name: Springer, Tokyo

  • Print ISBN: 978-4-431-65943-3

  • Online ISBN: 978-4-431-65941-9

  • eBook Packages: Springer Book Archive

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