Abstract
In this paper we propose a decentralized control alogorithm for transporting a single object by two nonholonomic mobile robots. We extend the leader-follower type control algorithm, which we proposed for the holonomic robots(10), to the nonholonomic mobile robots by introducing the dual caster action. The proposed control algorithm is experimentally applied to two nonholonomic mobile robots, and the experimental results illustrate the validity of the extended control algorithm. © 1999, The Japan Society of Mechanical Engineers. All rights reserved.
| Original language | English |
|---|---|
| Pages (from-to) | 2379-2385 |
| Journal | Nihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C |
| Volume | 65 |
| Issue number | 634 |
| DOIs | |
| Publication status | Published - 1999 |
| Externally published | Yes |
Bibliographical note
Publication details (e.g. title, author(s), publication statuses and dates) are captured on an “AS IS” and “AS AVAILABLE” basis at the time of record harvesting from the data source. Suggestions for further amendments or supplementary information can be sent to [email protected].Research Keywords
- Coordinated Motion Control
- Decentralized Control
- Nonholonomic Robot
- Robot
- Transportation
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