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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
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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     
Received: 05 May 2010      Published: 09 December 2010
CLC:  TP242.2  
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Cite this article:

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


Cooperative transport strategy for formation control of multiple mobile robots

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 
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