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Front. Inform. Technol. Electron. Eng.  2010, Vol. 11 Issue (12): 931-938    DOI: 10.1631/jzus.C1000136
    
Cooperative transport strategy for formation control of multiple mobile robots
Fan Yang, Shi-rong Liu, Fei Liu
Institute of Automation, East China University of Science and Technology, Shanghai 200237, China, Institute of Automation, Hangzhou Dianzi University, Hangzhou 310018, China
Cooperative transport strategy for formation control of multiple mobile robots
Fan Yang, Shi-rong Liu, Fei Liu
Institute of Automation, East China University of Science and Technology, Shanghai 200237, China, Institute of Automation, Hangzhou Dianzi University, Hangzhou 310018, China
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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.
关键词： Multiple mobile robots;  Cooperative transport;  Formation control;  Information sharing;  Box transporta    
Abstract: 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.
Key words: Multiple mobile robots    Cooperative transport    Formation control    Information sharing    Box transport
收稿日期: 2010-05-05 出版日期: 2010-12-09
CLC:  TP242.2  
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引用本文:

Fan Yang, Shi-rong Liu, Fei Liu. Cooperative transport strategy for formation control of multiple mobile robots. Front. Inform. Technol. Electron. Eng., 2010, 11(12): 931-938.

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http://www.zjujournals.com/xueshu/fitee/CN/10.1631/jzus.C1000136    或    http://www.zjujournals.com/xueshu/fitee/CN/Y2010/V11/I12/931

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