Collision avoidance algorithm for two tracked mobile robots transporting a single object in coordination based on function allocation concept

被引：0
|
作者：
Takeda, H [1 ]
Hirata, Y [1 ]
Wang, ZD [1 ]
Kosuge, K [1 ]
机构：
[1] Tohoku Univ, Dept Machine Intelligence & Syst Engn, Sendai, Miyagi 9808579, Japan
来源：
DISTRIBUTED AUTONOMOUS ROBOTIC SYSTEMS 5 | 2002年
关键词：
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
In this paper, we propose a collision avoidance algorithm for two tracked mobile robots transporting a single object based oil a function-allocation concept. In this algorithm, the desired trajectory of the object is given to the leader robot, arid the follower robot estimates the desired trajectory of the leader along the heading direction of the follower and generates the motion of the object for avoiding obstacles. We experimentally implement the proposed algorithm in the nonholonomic tracked mobile robots, arid illustrate the validity of the proposed control algorithm.
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页码：155 / 164
页数：10
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