Cooperative transport strategy for formation control of multiple mobile robots

被引：0
|
作者：
Fan Yang
Shi-rong Liu
Fei Liu
机构：
[1] East China University of Science and Technology,Institute of Automation
[2] Hangzhou Dianzi University,Institute of Automation
来源：
Journal of Zhejiang University SCIENCE C | 2010年 / 11卷
关键词：
Multiple mobile robots; Cooperative transport; Formation control; Information sharing; Box transport; TP242.2;
D O I：
暂无
中图分类号：
学科分类号：
摘要：
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.
引用
收藏
页码：931 / 938
页数：7
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