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Cooperative transport strategy for formation control of multiple mobile robots

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Abstract

This paper addresses a box transport problem that requires the cooperation of multiple mobile robots. A geometric-based distributed formation control strategy is proposed for robots to push the box to the target, which might be static or dynamic. Velocity and hardware constraints are considered in the advanced planning of the trajectory. Information sharing is included because the robots used as box pushers cannot acquire the required environmental information from their local sensors. Simulation results show the effectiveness of the proposed distributed cooperation strategy.

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Authors and Affiliations

  1. Institute of Automation, East China University of Science and Technology, Shanghai, 200237, China

    Fan Yang

  2. Institute of Automation, Hangzhou Dianzi University, Hangzhou, 310018, China

    Fan Yang, Shi-rong Liu & Fei Liu

Authors
  1. Fan Yang
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  2. Shi-rong Liu
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  3. Fei Liu
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Corresponding author

Correspondence to Shi-rong Liu.

Additional information

Project supported by the National Natural Science Foundation of China (No. 60675043) and the Science and Technology Project of Zhejiang Province of China (No. 2007C21051)

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Yang, F., Liu, Sr. & Liu, F. Cooperative transport strategy for formation control of multiple mobile robots. J. Zhejiang Univ. - Sci. C 11, 931–938 (2010). https://doi.org/10.1631/jzus.C1000136

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  • DOI: https://doi.org/10.1631/jzus.C1000136

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