A control method of a multiple non-holonomic robot system for cooperative object transportation

This paper describes a multi-robot system which incorporates a behavior-based dynamic cooperation strategy for object transportation. This cooperation strategy is realized in two steps: designing the distributed robot's cooperative behavioral attributes according to robot's abilities, and organizing these behavioral attributes so that the team cooperation is realized. A method to control nonholonomic robots for cooperative object transportation which includes three control modes on realizing behavior attributes on each individual robot's ability direction is proposed. The switching among the three control modes is decided according to the position of the virtual target point and the orientation of the robot's body. An experimental robot system is designed to verify the proposed method and some experiment results are shown in this paper.