Abstract
This paper describes the basic consideration and experimental results of cooperative operation of two mobile robots. First, basic concept for the cooperative operation of multiple robots and necessary functions for the system including communication function, collision avoidance and cooperative motion, are discussed. The strategy and experimental results for realizing collision-free motion between robots by communication are shown. As a typical example of cooperative operation, transporting a long pipe by two robots together is considered. To achieve higher mobility of pipe and to reduce interference between mobile robots, a new mechanism using passive joints and control algorithm for absorbing and correcting mobile errors of robots are proposed. The effectiveness of the proposed mechanism and control method is confirmed by experiments.
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© 1996 Springer Japan
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Ming, A., Masek, V., Kanamori, C., Kajitani, M. (1996). Cooperative Operation of Two Mobile Robots. In: Asama, H., Fukuda, T., Arai, T., Endo, I. (eds) Distributed Autonomous Robotic Systems 2. Springer, Tokyo. https://doi.org/10.1007/978-4-431-66942-5_30
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DOI: https://doi.org/10.1007/978-4-431-66942-5_30
Publisher Name: Springer, Tokyo
Print ISBN: 978-4-431-66944-9
Online ISBN: 978-4-431-66942-5
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