Dynamic control approach for motion coordination of multiple wheeled mobile robots transporting a single object

Hashimoto, Masafumi; Oba, Fumiyasu; Eguchi, Toru

doi:10.1109/iros.1993.583900

Cited by 57 publications

(27 citation statements)

References 6 publications

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“…Such research is not restricted to decentralized homogeneous system (Hashimoto et al, 1993;Ahmadabadi and Eiji, 1998;Fukuda et al, 1999), but includes also heterogeneous parent-children type systems to achieve the advantages of well-regulated coordination control (Hougen et al, 2000).…”

Section: The Concept Of Smc Rovermentioning

confidence: 99%

Development of Arm Equipped Single Wheel Rover: Effective Arm-Posture-Based Steering Method

2005

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We have been proposing a new planetary rover system named "SMC Rover". This system consists of one main body and detachable units, which can work as child rovers, and also become driving units of the main body. Each detachable unit named "Uni-Rover" consists of a single manipulator mounted on a wheel. Prototype models of the Uni-Rover and the SMC Rover have been already developed. This paper describes a new method of trajectory modeling for the Uni-Rover using the relation between arm posture and turning radius. At first, an intuitively recognizable model which uses zero slip angle is introduced. However, because this intuitive model has some problems, a new solution which considers the loss of friction on the wheel and on the caster is also discussed. The validity of the presented method is verified by experiments with an actual mechanical model. Moreover, an effective steering method which considers the margin of the energy stability is introduced.Keywords: SMC Rover, Uni-Rover, planetary rover, Super-Mechano-Colony, arm equipped single wheel rover, effective steering method

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Section: The Concept Of Smc Rovermentioning

confidence: 99%

Development of Arm Equipped Single Wheel Rover: Effective Arm-Posture-Based Steering Method

2005

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“…These include control methods for multiple mobile robots with compliant mechanisms between an object and the robots, e.g., couplers consisting of active prismatic links and passive rotary joints [8], mechanical sliders attached to follower robots [12], two passive-joint manipulators [1], two-joint arms with passive prismatic joints [36] [37], slideable and rotatable mechanical supports [18]; a control algorithm for two mobile robots, one of which is a leader robot and the other of which behaves as a caster robot [11]; and a control method for multiple mobile robots in formation, in which an object is assumed to be a virtual leader robot and the robots are followers [38].…”

Section: Introductionmentioning

confidence: 99%

“…Cooperative transportation systems in these control methods [8] [12] [11] [36] [1] [38] [18] [37] consist of multiple unicycle-type vehicles, which are differentially driven wheeled mobile robots. Whereas a differentially driven wheeled mobile robot can change its orientation without moving, a car-like vehicle must move in order to change its orientation, i.e., control of a car-like vehicle is more complex than that of a differentially driven wheeled mobile robot.…”

Section: Introductionmentioning

confidence: 99%

Control of two manipulation points of a cooperative transportation system with two car-like vehicles following parametric curve paths

Yamaguchi

Nishijima

Kawakami

2015

Robotics and Autonomous Systems

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“…Much research has focused on manipulating objects using groups of small generalpurpose robots rather than the traditional large single purpose machines in a context such as manufacturing [1,3,6,15,19]. There are a number of scenarios in factories and warehouses for which using a team of robots can save time or even perform a task that was impossible with a single robot.…”

Section: Introductionmentioning

confidence: 99%

The Feasible Transition Graph: Encoding Topology and Manipulation Constraints for Multirobot Push-Planning

Lindzey

Knepper

Choset

et al. 2015

Springer Tracts in Advanced Robotics

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Abstract. Planning for multirobot manipulation in dense clutter becomes particularly challenging as the motion of the manipulated object causes the connectivity of the robots' free space to change. This paper introduces a data structure, the Feasible Transition Graph (FTG), and algorithms that solve such complex motion planning problems. We define an equivalence relation over object configurations based on the robots' free space connectivity. Within an equivalence class, the homogeneous multirobot motion planning problem is straightforward, which allows us to decouple the problems of composing feasible object motions and planning paths for individual robots. The FTG captures transitions among the equivalence classes and encodes constraints that must be satisfied for the robots to manipulate the object. From this data structure, we readily derive a complete planner to coordinate such motion. Finally, we show how to construct the FTG in some sample environments and discuss future adaptations to general environments.

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Dynamic control approach for motion coordination of multiple wheeled mobile robots transporting a single object

Cited by 57 publications

References 6 publications

Development of Arm Equipped Single Wheel Rover: Effective Arm-Posture-Based Steering Method

Development of Arm Equipped Single Wheel Rover: Effective Arm-Posture-Based Steering Method

Control of two manipulation points of a cooperative transportation system with two car-like vehicles following parametric curve paths

The Feasible Transition Graph: Encoding Topology and Manipulation Constraints for Multirobot Push-Planning

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