Leader-follower type motion control algorithm of multiple mobile robots with dual manipulators for handling a single object in coordination

Yasuhisa Hirata; Takuro Sawada; Zhi-Dong Wang; Kazuhiro Kosuge

doi:10.1109/icima.2004.1384220

Leader-follower type motion control algorithm of multiple mobile robots with dual manipulators for handling a single object in coordination

Yasuhisa Hirata
, Takuro Sawada
, Zhi-Dong Wang
, Kazuhiro Kosuge

Research output: Chapters, Conference Papers, Creative and Literary Works › RGC 32 - Refereed conference paper (with host publication) › peer-review

16 Citations (Scopus)

Abstract

In this paper, we propose a leader-follower type motion control algorithm of multiple mobile robots with dual manipulators handling a single object in coordination. In this algorithm, the representative point of each robot is controlled as if it has a caster-like dynamics in 3-D space, and each robot handles a single object in coordination with other robots without using the geometric relations among the robots based on the leader-follower type motion control algorithm. The proposed control algorithm is experimentally applied to two mobile robots with dual manipulators, and the validity of the proposed control algorithm is illustrated by the experimental results.

Original language	English
Title of host publication	Proceedings - 2004 International Conference on Intelligent Mechatronics and Automation
Pages	362-367
DOIs	https://doi.org/10.1109/icima.2004.1384220
Publication status	Published - 2004
Externally published	Yes
Event	Proceedings - 2004 International Conference on Intelligent Mechatronics and Automation - Chengdu, China Duration: 26 Aug 2004 → 31 Aug 2004 https://ieeexplore.ieee.org/xpl/conhome/9505/proceeding

Publication series

Name	Proceedings - 2004 International Conference on Intelligent Mechatronics and Automation

Conference

Conference	Proceedings - 2004 International Conference on Intelligent Mechatronics and Automation
Place	China
City	Chengdu
Period	26/08/04 → 31/08/04
Internet address	https://ieeexplore.ieee.org/xpl/conhome/9505/proceeding

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].

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Hirata, Y., Sawada, T., Wang, Z.-D., & Kosuge, K. (2004). Leader-follower type motion control algorithm of multiple mobile robots with dual manipulators for handling a single object in coordination. In Proceedings - 2004 International Conference on Intelligent Mechatronics and Automation (pp. 362-367). (Proceedings - 2004 International Conference on Intelligent Mechatronics and Automation). https://doi.org/10.1109/icima.2004.1384220

Hirata, Yasuhisa ; Sawada, Takuro ; Wang, Zhi-Dong et al. / Leader-follower type motion control algorithm of multiple mobile robots with dual manipulators for handling a single object in coordination. Proceedings - 2004 International Conference on Intelligent Mechatronics and Automation. 2004. pp. 362-367 (Proceedings - 2004 International Conference on Intelligent Mechatronics and Automation).

@inproceedings{6486846605b84436ad6ec493207c37f1,

title = "Leader-follower type motion control algorithm of multiple mobile robots with dual manipulators for handling a single object in coordination",

abstract = "In this paper, we propose a leader-follower type motion control algorithm of multiple mobile robots with dual manipulators handling a single object in coordination. In this algorithm, the representative point of each robot is controlled as if it has a caster-like dynamics in 3-D space, and each robot handles a single object in coordination with other robots without using the geometric relations among the robots based on the leader-follower type motion control algorithm. The proposed control algorithm is experimentally applied to two mobile robots with dual manipulators, and the validity of the proposed control algorithm is illustrated by the experimental results.",

author = "Yasuhisa Hirata and Takuro Sawada and Zhi-Dong Wang and Kazuhiro Kosuge",

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].; Proceedings - 2004 International Conference on Intelligent Mechatronics and Automation ; Conference date: 26-08-2004 Through 31-08-2004",

year = "2004",

doi = "10.1109/icima.2004.1384220",

language = "English",

isbn = "0780387481",

series = "Proceedings - 2004 International Conference on Intelligent Mechatronics and Automation",

pages = "362--367",

booktitle = "Proceedings - 2004 International Conference on Intelligent Mechatronics and Automation",

url = "https://ieeexplore.ieee.org/xpl/conhome/9505/proceeding",

}

Hirata, Y, Sawada, T, Wang, Z-D & Kosuge, K 2004, Leader-follower type motion control algorithm of multiple mobile robots with dual manipulators for handling a single object in coordination. in Proceedings - 2004 International Conference on Intelligent Mechatronics and Automation. Proceedings - 2004 International Conference on Intelligent Mechatronics and Automation, pp. 362-367, Proceedings - 2004 International Conference on Intelligent Mechatronics and Automation, Chengdu, China, 26/08/04. https://doi.org/10.1109/icima.2004.1384220

Leader-follower type motion control algorithm of multiple mobile robots with dual manipulators for handling a single object in coordination. / Hirata, Yasuhisa; Sawada, Takuro; Wang, Zhi-Dong et al.
Proceedings - 2004 International Conference on Intelligent Mechatronics and Automation. 2004. p. 362-367 (Proceedings - 2004 International Conference on Intelligent Mechatronics and Automation).

Research output: Chapters, Conference Papers, Creative and Literary Works › RGC 32 - Refereed conference paper (with host publication) › peer-review

TY - GEN

T1 - Leader-follower type motion control algorithm of multiple mobile robots with dual manipulators for handling a single object in coordination

AU - Hirata, Yasuhisa

AU - Sawada, Takuro

AU - Wang, Zhi-Dong

AU - Kosuge, Kazuhiro

N1 - 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].

PY - 2004

Y1 - 2004

N2 - In this paper, we propose a leader-follower type motion control algorithm of multiple mobile robots with dual manipulators handling a single object in coordination. In this algorithm, the representative point of each robot is controlled as if it has a caster-like dynamics in 3-D space, and each robot handles a single object in coordination with other robots without using the geometric relations among the robots based on the leader-follower type motion control algorithm. The proposed control algorithm is experimentally applied to two mobile robots with dual manipulators, and the validity of the proposed control algorithm is illustrated by the experimental results.

AB - In this paper, we propose a leader-follower type motion control algorithm of multiple mobile robots with dual manipulators handling a single object in coordination. In this algorithm, the representative point of each robot is controlled as if it has a caster-like dynamics in 3-D space, and each robot handles a single object in coordination with other robots without using the geometric relations among the robots based on the leader-follower type motion control algorithm. The proposed control algorithm is experimentally applied to two mobile robots with dual manipulators, and the validity of the proposed control algorithm is illustrated by the experimental results.

UR - https://www.scopus.com/pages/publications/8844272636

UR - https://www.scopus.com/pages/publications/8844272636#tab=impact

U2 - 10.1109/icima.2004.1384220

DO - 10.1109/icima.2004.1384220

M3 - RGC 32 - Refereed conference paper (with host publication)

SN - 0780387481

SN - 9780780387485

T3 - Proceedings - 2004 International Conference on Intelligent Mechatronics and Automation

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BT - Proceedings - 2004 International Conference on Intelligent Mechatronics and Automation

T2 - Proceedings - 2004 International Conference on Intelligent Mechatronics and Automation

Y2 - 26 August 2004 through 31 August 2004

ER -

Hirata Y, Sawada T, Wang ZD, Kosuge K. Leader-follower type motion control algorithm of multiple mobile robots with dual manipulators for handling a single object in coordination. In Proceedings - 2004 International Conference on Intelligent Mechatronics and Automation. 2004. p. 362-367. (Proceedings - 2004 International Conference on Intelligent Mechatronics and Automation). doi: 10.1109/icima.2004.1384220

Leader-follower type motion control algorithm of multiple mobile robots with dual manipulators for handling a single object in coordination

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