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Coordinated transportation of a single object by two nonholonomic mobile robots

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Abstract

We propose a decentralized control algorithm for transporting a single object by two nonholonomic mobile robots. One of the robots acts as a leader, whose trajectory is planned by itself or defined previously, whereas the other robot, referred to as a follower, follows the leader by keeping a constant distance from the leader. The follower can also avoid obstacles while following the leader without any absolute information about their position. Furthermore, the two mobile robots can realize an omnidirectional motion of the object when the leader broadcasts some simple information to the follower. Some simulation results show a good performance by the proposed decentralized control algorithm.

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Authors and Affiliations

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

    X. Yang

  2. Department of Advanced Systems Control Engineering, Graduate School of Science and Engineering, Saga University, Saga, Japan

    K. Watanabe, K. Kiguchi & K. Izumi

Authors
  1. X. Yang
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  2. K. Watanabe
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  3. K. Kiguchi
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  4. K. Izumi
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Corresponding author

Correspondence to X. Yang.

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Cite this article

Yang, X., Watanabe, K., Kiguchi, K. et al. Coordinated transportation of a single object by two nonholonomic mobile robots. Artif Life Robotics 7, 48–54 (2003). https://doi.org/10.1007/BF02480885

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  • DOI: https://doi.org/10.1007/BF02480885

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