An application of Passive Velocity Field Control to cooperative multiple 3-wheeled mobile robots

被引：0
|
作者：
Yamakita, M [1 ]
Yazawa, T [1 ]
Zheng, XZ [1 ]
Ito, K [1 ]
机构：
[1] Tokyo Inst Technol, Tokyo 152, Japan
来源：
1998 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS - PROCEEDINGS, VOLS 1-3: INNOVATIONS IN THEORY, PRACTICE AND APPLICATIONS | 1998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：
Traditionally, tasks for a robotic system ape specified by a desired timed trajectory. There, however, are many tasks in which the desired motions are specified by the state of system rather than time, such as contour following tasks. For such, tasks, Passive Velocity Field Control(PVFC) has been proposed and the geometry of the controlled systems was analyzed. fn this paper, a method to apply the PVFC to cooperative multiple mobile robotic systems whose sub- system is under non-holonomic constraints and which convey a common rigid object in a horizontal plain is proposed, and the effectiveness of the control method is demonstrated by several numerical simulations.
引用
收藏
页码：368 / 373
页数：6
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