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Article: ロボット間の幾何学的関係を必要とせず物体の搬送を実現する複数移動ロボットの分散協調制御

Titleロボット間の幾何学的関係を必要とせず物体の搬送を実現する複数移動ロボットの分散協調制御
Desentralized Motion Control of Multiple Mobile Robots for Transporting an Object without Geometric Relations among Robots
Authors
Hirata, YasuhisaKosuge, KazuhiroAsama, HajimeKaetsu, HayatoKawabata, Kuniaki
KeywordsMoving Robot
Decentralized Motion Control
Robot
Motion Control
Transportation
Coordinated Motion Control
Issue Date2003
Citation
日本機械学会論文集Ｃ編, 2003, v. 69, n. 677, p. 204-211 How to Cite?
DOI: http://dx.doi.org/10.1299/kikaic.69.204
Transactions of the Japan Society of Mechanical Engineers, Part C, 2003, v. 69, n. 677, p. 204-211 How to Cite?
DOI: http://dx.doi.org/10.1299/kikaic.69.204
AbstractIn this paper, we propose a decentralized motion control algorithm of multiple mobile robots for transporting a single object in coordination. In this algorithm, each robot is controlled as if it has a caster-like dynamics and transports a single object in coordination with other robots without using the geometric relations among robots. The proposed control algorithm is experimentally applied to multiple omnidirectional mobile robots. Experimental results illustrate the validity of the proposed control algorithm. © 2003, The Japan Society of Mechanical Engineers. All rights reserved.
Persistent Identifierhttp://hdl.handle.net/10722/302716
ISSN
0387-5024
2019 SCImago Journal Rankings: 0.104

 

DC FieldValueLanguage
dc.contributor.authorHirata, Yasuhisa-
dc.contributor.authorKosuge, Kazuhiro-
dc.contributor.authorAsama, Hajime-
dc.contributor.authorKaetsu, Hayato-
dc.contributor.authorKawabata, Kuniaki-
dc.date.accessioned2021-09-07T08:42:27Z-
dc.date.available2021-09-07T08:42:27Z-
dc.date.issued2003-
dc.identifier.citation日本機械学会論文集Ｃ編, 2003, v. 69, n. 677, p. 204-211-
dc.identifier.citationTransactions of the Japan Society of Mechanical Engineers, Part C, 2003, v. 69, n. 677, p. 204-211-
dc.identifier.issn0387-5024-
dc.identifier.urihttp://hdl.handle.net/10722/302716-
dc.description.abstractIn this paper, we propose a decentralized motion control algorithm of multiple mobile robots for transporting a single object in coordination. In this algorithm, each robot is controlled as if it has a caster-like dynamics and transports a single object in coordination with other robots without using the geometric relations among robots. The proposed control algorithm is experimentally applied to multiple omnidirectional mobile robots. Experimental results illustrate the validity of the proposed control algorithm. © 2003, The Japan Society of Mechanical Engineers. All rights reserved.-
dc.languagejpn-
dc.relation.ispartof日本機械学会論文集Ｃ編-
dc.relation.ispartofTransactions of the Japan Society of Mechanical Engineers, Part C-
dc.subjectMoving Robot-
dc.subjectDecentralized Motion Control-
dc.subjectRobot-
dc.subjectMotion Control-
dc.subjectTransportation-
dc.subjectCoordinated Motion Control-
dc.titleロボット間の幾何学的関係を必要とせず物体の搬送を実現する複数移動ロボットの分散協調制御-
dc.titleDesentralized Motion Control of Multiple Mobile Robots for Transporting an Object without Geometric Relations among Robots-
dc.typeArticle-
dc.description.naturelink_to_OA_fulltext-
dc.identifier.doi10.1299/kikaic.69.204-
dc.identifier.scopuseid_2-s2.0-0037257489-
dc.identifier.volume69-
dc.identifier.issue677-
dc.identifier.spage204-
dc.identifier.epage211-

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