Cooperative transport strategy for formation control of multiple mobile robots

被引：7
|
作者：
Yang, Fan [1 ,2 ]
Liu, Shi-rong [1 ]
Liu, Fei [1 ]
机构：
[1] Hangzhou Dianzi Univ, Inst Automat, Hangzhou 310018, Peoples R China
[2] E China Univ Sci & Technol, Inst Automat, Shanghai 200237, Peoples R China
来源：
JOURNAL OF ZHEJIANG UNIVERSITY-SCIENCE C-COMPUTERS & ELECTRONICS | 2010年 / 11卷 / 12期
基金：
中国国家自然科学基金;
关键词：
Multiple mobile robots; Cooperative transport; Formation control; Information sharing; Box transport; OBJECT;
D O I：
10.1631/jzus.C1000136
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
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：8
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